Analysis of dynamic performance indices of 3-RPC parallel mechanism

The spatial configuration of a novel 3-RPC parallel mechanism is analyzed using the position inverse solution, then influence coefficient matrix are established by adopting virtual mechanism method, and with use of influence coefficient method and differential method, the simulation curve of input speed and input acceleration are separately calculated, which to verify the correctness of the influence coefficient matrix. The velocity, acceleration and inertial force performances of the 3-RPC mechanism are also analyzed, meanwhile, performance atlases are given, considering the mechanism size, thickness and quality. Furthermore, with the mechanism dimensions changing, the work spaces of the mechanisms with different dimensions are searched. Then the influence of change of mechanism dimensions on the mechanism performance is discussed within the range of accessible work space. Emphatically, the extent of influence of Jacobian matrix and Hessian matrix on the acceleration of mechanism is discussed. Finally OpenGL software is used to carry out model simulation for the mechanism.