Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 6, issue 1
Articles | Volume 6, issue 1
https://doi.org/10.5194/ms-6-57-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-6-57-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 6, issue 1
Research article
 | 
24 Apr 2015
Research article |  | 24 Apr 2015

Kinematic analysis of a novel 3-CRU translational parallel mechanism

B. Li, Y. M. Li, X. H. Zhao, and W. M. Ge

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Latest update: 21 Nov 2024
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Short summary
This paper proposes a modified 3-DOF TPM 3-CRU. The mobility of the mechanism is analyzed based on screw theory. Both inverse and forward position analyses are performed, and the analytical solutions are obtained with respect to these two problems. The proposed TPM has explicit solutions for the inverse and forward kinematics issues. Both the path planning and control problems of the mechanism are very simple. The Jacobian matrix of the mechanism and reachable workspace are obtained.
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