Kinematics analysis of a novel 3-RRUR parallel mechanism

By the ultimate research method, relationship between length of link and coordinates of center point of moving platform is obtained, and a group of ideal workspace sectional curves along upward direction, and a solid model generated from these curves are drawn. Next, by imaginary mechanism method, the first order effect coefficient matrixes of the mechanism in initial position and general position are deduced, the displacement and velocity curves are drawn after translated along the X-axis. All of the results should be applied in the mechanism design.