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Kinematics analysis and simulation of a novel spatial translational parallel manipulator

In this paper, a novel non-overconstrained spatial translational parallel manipulator is proposed. The mechanism consists of three identical CPU-type kinematic chains. Based on the screw theory, the output characteristics and the degree of freedom (DOF) of the moving platform are analyzed and calculated. The mathematical models are established including position, velocity and acceleration. The mapping relationship between the variables of passive joints and the actuated input variables are discussed and the corresponding expressions are derived. The kinematics simulation of the mechanism is carried out by using SolidWorks and Adams software. The simulation curves of the displacements, velocities and accelerations of the mechanism are described. In addition, the kinematical curves of the passive joints are obtained as well. This work contributes to provide the theoretical proof for the prototype development of the mechanism.