Design and Kinematics Analysis of a Novel Uncoupled Two-Translational Parallel Robot Mechanism

摘要

The paper presents a novel uncoupled two-translational parallel robot mechanism, which includes three branch chains. The first and the second branch chains, called the actuated branches, have the same structure, i.e. RUPR-type. The third branch chain, called a pure constraint branch, is only composed of three revolute joints whose axes are with parallel to each other. Degree of freedom (DOF) and output motion characteristics of the robot are analyzed. The kinematics models of the robot mechanism are established by using the actuation screw wrench theory and the closed loop vector method. Position, velocity and acceleration equations are derived. Singularity is also analyzed in detail and the singular configurations of the robot mechanism are obtained. Finally, kinematics simulation is performed by use of MATLAB and ADMAS software, and the kinematic curves are drawn.