Structural conceptual optimization and kinematics of a 3-Dof novel parallel mechanism used for virtual axes coordinate measure machine

This paper presents a novel parallel kinematic structure with one translation and two rotations. The shape and size of its workspace as well as singularity of the structure have been calculated and analyzed, which shows that there are un-robust workspace and singular positions which has been verified by its experiment prototype. Thus, two structural optimized parallel structures were designed by using fixed strut length and variable strut length approaches, the kinematics and workspace and prototype experiment for one of the optimized structures are investigated, which shows a robust workspace and non existing of the singularity to greater extent. The optimized structures can be used in machine tools or coordinate measure machines.