Abstract
According to the topological design theory of parallel mechanism(PM) based on the position and orientation characteristic(POC), a new PM with two translational degree of freedom(DOF) and one rotational DOF (2T1R) was proposed. The topological characteristics of the PM was analyzed, including POC set, DOF and coupling degree. Based on analytic method, the solving modeling was established, and the forward and inverse solutions were obtained. Then the correctness of the position solution was verified by Matlab. Velocity and acceleration formulas of PM were calculated by Jacobian matri, and simulation curves of velocity and acceleration was put forword. Kinematic analysis shows that the 2T1R PM has both translational and rotational characteristics, moreover, the moving platform has stable output and good dynamic characteristics.
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