The Kinematics Analysis of Three New Parallel Robot Manipulators

Through the application of the constraint accession method for configuration design to the new parallel robot manipulator (PRM) of the partly degrees of freedom (DOF), and three new types of 3-DOF PRM are designed in the paper. According to the kinematics theory, the constrains, the degrees of freedom, position and velocity are analyzed. Using space coordinate transformation theory of Jacobian matrix of the parallel mechanisms, through the simulation methods, we got the rule of movement. Simulation and analysis indicated that the new types of PRM have 3 DOF, and can actualize straight movement of two dimensions and turning movement of one dimension. Through mathematic modeling and positive and inverse solution analysis about position, some conclusions have been got that the new types PRM can actualize preconcerted movement, and have good kinematics performance, thus providing the foundation for practice application and product exploitation.