New type 1T3R mechanisms and their kinematics analysis

Aiming at the automatic treatment to Otolith disease as well as the detection and training of vestibular function of astronauts and pilots, this paper comes up with one new type 4 DOF spatial mechanisms, they can promise that the motional platform realizes rotation in any spatial orientation as well as move in the direction that verticals to the motional platform (namely 1T3R). Firstly, using the way of D-H to set up the kinematic model that includes forward position and inverse position at the original state of the mechanisms. In addition, using the position matrix of kinematic model to yield the expressions of velocity and acceleration on the basis of mechanisms´ velocity Jacobian matrix. In the end, to verify the authenticity of the models above by the simulation software ADAMS and software MATLAB. Which lays the foundation for later research that covers kinetic analysis and automation control.