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2018•Unpublished venueOpen access

Kinematics Simulation of Planar 3-DOF Parallel Mechanism

Chao Jia, Allam Maalla, Fanshu Kong, Xijuan Guo

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Abstract

First, this paper establishes a three-dimension simulation model of the planar 3-dof parallel mechanism, and realized its kinematics simulation；Second, the velocity and acceleration curves of the mechanism are simulated by differential method and influence coefficient method, and the Singular configuration point of the mechanism are confirmed; Finally, analyzing the Singular configuration point of the mechanism, and obtained The influence of mechanism size change on kinematics performance.

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What this paper is about

First, this paper establishes a three-dimension simulation model of the planar 3-dof parallel mechanism, and realized its kinematics simulation；Second, the velocity and acceleration curves of the mechanism are simulated by differential method and influence coefficient method, and the Singular configuration point of the mechanism are confirmed; Finally, analyzing the Singular configuration point of the mechanism, and obtained The influence of mechanism size change on kinematics performance.

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Available abstract

First, this paper establishes a three-dimension simulation model of the planar 3-dof parallel mechanism, and realized its kinematics simulation；Second, the velocity and acceleration curves of the mechanism are simulated by differential method and influence coefficient method, and the Singular configuration point of the mechanism are confirmed; Finally, analyzing the Singular configuration point of the mechanism, and obtained The influence of mechanism size change on kinematics performance.

Key concepts: Kinematics, Planar, Mechanism (biology), Computer science, Simulation, Computer graphics (images), Physics, Classical mechanics

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