Kinematics and Statics Analysis of a 3-DOF Planar Parallel Mechanism

This paper introduced a three degree-of-freedom planar parallel mechanism which is composed of three branches. In order to give directions for the following engineering design of the mechanism, the inverse kinematics and forward kinematics of this parallel mechanism are analyzed, which shows that analytical equations for the inverse and forward kinematics of the novel parallel mechanism can be obtained. Also, velocity jacobian matrix are presented, based on these matrix, solution formulas about velocity,acceleration and statics of this mechanism are derived. The analysis results show that this novel parallel mechanism can easily realize real-time control and have valuable engineering applications.