Abstract
In this paper was studied displacement analysis of three degrees of freedom pure rotational parallel mechanism. The mechanism was constructed by three identical kinematic chains composed of three revolute joins named 3-RRR, moving platform and fixed body (base) where such as configuration was classified as over constraint mechanism. To develop the formulation of displacement analysis was employed six kinematic constants consisting of mounting angle of revolute joint on the platform and the base, position of mounting revolute joint on the platform and the base relative to the center of the platform and the base and distance between three revolute joint on the kinematic chains. It was obtained analytical formulation of the inverse displacement analysis of the 3-RRR pure rotational over constraint parallel mechanism which is clarified by the cad program.
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