Kinematic Analysis and Dimensional Synthesis of a Novel 3-DOF Parallel Mechanism

Abstract

This paper presents the kinematic performance analysis of a R(2-RPR)U&UP parallel mechanism that is composed of a planar linkage plus a spatial limb. The dimensional synthesis of the parallel mechanism is carried out by defining two different workspace that enables to achieve a nearly axial symmetry of kinematic performance. A set of homogeneous dimensionless parameters are optimized by minimizing two global performance indices represented by the mean value and standard deviation of the condition number of Jacobian. It shows that for the first definition of workspace the mechanism achieves better kinematic performance.