Kinematics analysis and simulation of a new parallel mechanism with two translational and one rotational outputs

Based on the single-opened-chain (SOC) unit theory, a new parallel mechanism with two translational and one rotational (2T1R) degrees of freedom is put forward. Both the forward and the inverse analytical solutions of the moving platform´s positions are derived. The virtual prototype model of the mechanism is established by use of the ADAMS software. According to the simulation of the virtual prototype, it is shown that the moving platform has two translational and one rotational kinematic output characteristic. At the same time, simulation datum verifies the correctness of kinematics analysis. The singularity of the mechanism is analyzed.