Design and Kinematics Analysis of a Novel Planar Parallel Mechanism

Abstract:

A novel 3-dof planar parallel mechanism, which is composed by three different limbs, is designed. The moving platform can translate along two directions and rotate around one axis with respect to the base. Mobility of the mechanism is discussed and calculated based on the screw theory. The forward and the inverse analytical position equations are derived and the veloctiy analysis is addressed too. The Jacobian matrix is an identical one, so there exists one-to-one corresponding linear controlling relationship between one of the actuated joints and one of the outputs of the platform. Moreover, the condition number of the Jacobian matrix is constantly equal to one and the mechanism shows fully-isotropic throughout entire workspace.

• Periodical: Applied Mechanics and Materials (Volumes 568-570)
• Pages: 904-910
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.568-570.904
• Online since: June 2014
• Authors: Yan Bin Zhang*, Hui Ping Wang
• Keywords: Fully-Isotropic, Kinematics Analysis, Planar Parallel Mechanism, Screw Theory

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