Screws on the relative parallel mechanisms

In this paper, we consider screws on the relative parallel mechanisms with three parallel kinematic chains. The analysis of these mechanisms is carried out by means of screw theory. This approach allows avoiding satisfied equations by singularity analysis of mechanisms. The number of degrees of freedom of relative mechanism device is the total degrees of freedom of its constituent mechanisms. This property allows us to achieve the required number of degrees of freedom, using simple mechanisms in construction. Thus, it is possible to reduce the mutual effect that the motors have on each other when the mechanisms are in motion, placing them on the base. As a result of this, we are able to determine the optimal parameters of such a mechanism with the help of theoretical calculation.