Working Space and Motion Analysis on a Novel Planar Parallel Manipulator with Three Driving Sliders

The change of position and orientation of workpieces is often required in CNC machining, workpiece conveying and product testing. A novel practical planar parallel mechanism with three sliders driven on two parallel guide rails is presented. The direct and inverse kinematic solutions are deduced. The workspace analysis on the end-effector is conducted under given position and orientation. The simulation of motion characteristics of three sliders is completed when it is in given orientation. The virtual prototype is demonstrated. This paper is useful to real-time control and industrial application of this 3-DOF parallel manipulator.