Structural Design and Kinematic Analysis of a Weakly Coupled 3T Parallel Mechanism

According to the theory and method of parallel mechanism design based on the orientation characteristic equation, a novel weaking-coupling three-translation parallel robot mechanisms was proposed. Based on the kinematics principle of the sequential single opened chain method, an analytical formula for solving the forward and inverse equations of the mechanism are derived. Based on the inverse position solution and the constraint conditions of the mechanism, the workspace and section diagram of the mechanism are obtained by the boundary search method. The mechanism has the advantages of partial decoupling in the direction of movement of the y-axis and is suitable for use as an industrial automation operating mechanism.