Abstract
this paper attempts to compare operation modes of three one translational and two rotational (1T2R) zero-torsion parallel mechanisms (PMs), 3-PSP PM, 3-RPS PM and 3-SPR PM, using dual quaternions and geometric constraints. At first, the geometric constraints of their limbs are presented based on motion characteristics. Then, constraint equations of these mechanisms are obtained according to dual quaternions in combination with geometric constraints of their limbs. The operation mode analysis of these three mechanisms is thus carried out by prime decompositions. And the kinematic interpretation of their operation modes is presented. Finally, the axodes of 3-PSP PM, 3-RPS PM and 3-SPR PM are drawn to character and compare their operation modes. The results reveal motion characteristics of these mechanisms.
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