Topology design and analysis of a novel 3-translational parallel mechanism with analytical direct position solutions and partial motion decoupling

TL;DR

This paper introduces a novel 3-translation parallel mechanism with analytical position solutions and partial motion decoupling, enhancing kinematic analysis and singularity understanding for improved design and control.

Contribution

It presents a new 3-translation parallel mechanism with analytical direct position solutions and partial motion decoupling, based on topological design theory.

Findings

Analytical direct position solutions obtained without search methods.

Singularity conditions and locations within the workspace analyzed.

Topological characteristics such as POC and degrees of freedom calculated.

Abstract

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it consists on three actuated prismatic joints, 2) the PM has analytical direct position solutions, and 3) the PM is of partial motion decoupling property. Firstly, the main topological characteristics such as the POC, degree of freedom and coupling degree are calculated for kinematics modelling. Due to the special constraint feature of the 3-translation, the analytical direct position solutions of the PM can be directly obtained without needing to use one-dimensional search method. Further, the conditions of the singular configuration of the PM, as well as the singularity location inside the workspace are analyzed according to the inverse kinematics.