Abstract
This paper analyzes the motion and force transmission on the basis of a particular 3-DOF parallel mechanism-3-PCR parallel robot. First of all, the kinematic equation for 3-PCR parallel robot has been established. Besides, the manipulability of velocity and force have been defined in line with the Jacobian matrix for the robot mechanism. Moreover, the relevant evaluation indices for the velocity and force transmission of the robot mechanism have been specified. Finally, the capability of the velocity and force transmission of the mechanism, under designated postures within the workspace, have been measured by considering the velocity and force manipulability as performance indices.
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