Kinematics of a Novel Three DOF Translational Parallel Manipulator

A new parallel mechanism with three translations is synthesized according to the structural theory of parallel robotic mechanisms based on the units of the Single\|opened\|chain limb. First, mobility analysis and motion output analysis for the parallel mechanism are addressed; then the closed\|formed analytic solutions are developed for both the forward and inverse kinematics, moreover, input\|output motion relationship is also discussed.