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Chang Fuqing
College of Civil Engineering
and Mechanics,
Yanshan University,
Qinhuangdao 066004, China
Zhu Sijun
College of Mechanical Engineering,
Yanshan University,
Qinhuangdao 066004, China
Guo Xijuan
College of Information Science
and Engineering,
Yanshan University,
Qinhuangdao 066004, China |
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KINEMATICAL
PERFORMANCE
ANALYSIS FOR
PLANAR PARALLEL
MECHANISM 3RRR*
Abstract: The kinematics of 3-DOF
planar parallel symmetrical mechanisms—3RRR are studied with
kinematical influence coefficient method. Some novel kinematical
performance indices for parallel mechanism including velocity
and acceleration indices are presented based on the kinematics
influence coefficient matrices. According to these performance
indices, the kinematical performance of mechanisms—3RRR is
studied and the relationship between the design parameters and
its kinematical performance are given by performance atlases which would be helpful for mechanism design.
Key words:
Kinematical performance Parallel
mechanism Kinematical influence coefficient 3RRR
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