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According to the topology design theory and method of parallel mechanism (PMs) based on the position and orientation characteristics (POC) equations, a three-translation PM is designed. The topological analysis of the PM is performed to obtain its degrees of freedom and coupling degree (k). Secondly, applying the kinematic modeling and analysis method based on topological characteristics, the symbolic forward andinverse positions are obtained, from which the workspace and singularity of the PM are obtained.

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Topological Design and Kinematic Analysis of a New Three-Translation Parallel Mechanism

  • 会议论文

  • 发表日期：

    2025年

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  • Ju Li,
  • Xingyu She,
  • Tao Li,
  • Pengda Ye,
  • Huiping Shen

摘要

According to the topology design theory and method of parallel mechanism (PMs) based on the position and orientation characteristics (POC) equations, a three-translation PM is designed. The topological analysis of the PM is performed to obtain its degrees of freedom and coupling degree (k). Secondly, applying the kinematic modeling and analysis method based on topological characteristics, the symbolic forward andinverse positions are obtained, from which the workspace and singularity of the PM are obtained.