Kinematic Analysis of A Novel 3-DOF Translational Parallel Mechanism

In this paper, the mobility and instantaneous motions of a novel 3-DOF 3-RPUR parallel mechanism are studied. It is very important to know all the feasible instantaneous motions of parallel mechanism. Firstly, the mobility and feasible instantaneous motions are analyzed by screw theory. Secondly, the first and second-order influence coefficient matrices of the mechanism are established by looking up the table and the imaginary mechanism method. Finally, a numerical example is presented.