A New 3T Parallel Mechanism: Topological Design, Analysis and Symbolic Position Solutions

Abstract

According to the topology design method of parallel mechanism based on position and orientation characteristic equations, a new type of three-translation parallel mechanism with symbolic forward position solution and partial motion decoupling is designed. Firstly, its topological characteristics such as position and orientation characteristic, degree of freedom and coupling degree, are analyzed and obtained. Secondly, using the kinematics modeling principle based on topological characteristics proposed by the author, the symbolic forward position solutions of the parallel mechanism are derived.