Kinematics analysis and scale synthesis of 3UPU parallel mechanism

To improve the parallel mechanism accuracy and design efficiency, this paper proposed the matrix of mechanism is derived by differential method, and the mapping relationship between input speed and output speed of mechanism is established. The relationship between input acceleration and output acceleration of mechanism is established by quadratic derivation. MATLAB is used to simulate the speed and acceleration, and the relationship between input speed and output speed of parallel mechanism is drawn. The results show that three speed functions are 10sin (π t), 20sin (π t) and 30sin (π t). Thereby, verifying the correctness of the mathematical model and the three-dimensional solid 3-UPU parallel mechanism model. In many applications, parallel manipulator can be found like airplane simulators, mining machine, pointing devices and walking machines. This method can improve work efficiency and lay a foundation for further research of this institution. The proposed technique is 1.59% and 0.47% better than the existing technique in form of optimal equation result and maximum bearing capacity index respectively. After optimization, the presented technique outperforms the existing technique in terms of optimal equation result and maximum bearing capacity index by 2.37% and 0.23% respectively.