A novel 3-Dof three-translation parallel mechanism and displacement analysis

摘要

According to the structural theory of parallel robotic mechanisms based on single-opened-chain limbs, a new 3-DOF pure translation parallel kinematic mechanism (PKM) is synthesized and analyzed. The mechanism consists of only revolute joints, which is easy to manufacture and assembly. In this paper, topological kinematic design of the PKM is described first, and then motion output analysis and mobility analysis for the parallel mechanism are addressed. Then, the closed-formed analytic equations are developed for both the forward and inverse kinematics, moreover, input-output motion relationship is also discussed. The PKM has better overall dynamics properties and easier manufacture-ability because of pure revolute joints which provide a new parallel kinematic structure for manipulators.