Trajectory Planning and Simulation of a New Symmetric Parallel Mechanism with Three Translational DOF

Abstract

Lower mobility parallel robot mechanisms have become analysis hotspot in the field of parallel robot mechanisms because of the characteristics of simple structure, lower price and easy control, they have good prospect in industrial application. In this paper, a new symmetric 3-PCR parallel robot mechanism was designed according to screw theory and single opened chain type synthesis method. On the basis of the structure analysis to 3-PCR parallel robot mechanism, the inverse position equation was built up and the planning method of non-parametric models motion trajectory was studied using inverse analysis theory of kinematics. The course of the trajectory planning was illustrated through a practical example. At last, the method of trajectory planning was proved to be feasible through simulation in ADAMS software.