Abstract
This paper presents a novel asymmetric parallel mechanism with three degrees of freedom, with properties of self-aligning called Triflex II. Triflex II is composed of three legs: $$\overline{P}RRR+\overline{P}RRU+\overline{P}RRS$$ that connect a moving platform to the base. This paper discusses the properties of asymmetry and self-aligning of the mechanism presenting and discussing the complete analytical mathematical modeling of direct and inverse kinematics of position and velocity, using geometrical approaches. It is presented also a study of singularities and workspace limits. In order to validate the developed kinematic modeling a numerical simulation is presented.
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