Study On The Kinematic Characteristics About The Instantaneous Motion Of Three Dof 3-tpt In-parallel Actuated Pyramid Mechanism

Firstly,this paper,aimed at the characteristics of a tbree-of-freedeom(DOF)3 -TPT in-parallel actuated pyramid mechanism,find out the physical constraints of the mechanism.Established the inverse kinematic equations based on the constraints. On the basis of constraint-s,secondly,the author makes a farther step in analysing the charact-eristics of movement.By means of the principal screw theory and inverse screw theory, instantaneous motion of initial position and possible position.All these analysis of the kinematic characteristics of the 3-DOE parallel robot manipulator are significant for enriching and completing the theory of the machanics of parallel robot. During the inverse analysis of the mechanism,find out the physical constraints of the mechanism.The physical constraints of the mechanism is changing.Established the inverse equations of the mechanism according to the constraints. By means of the principal screw theory and inverse screw theory, instantaneous motion of initial position and possible position.Then make a further step on initial position and possible position analysis using principal screw theory. Finally,the instantaneous motion of 3-WI platform mechanism was studied.And its inverse screw analysis was performed. We can draw from the result that the 3-DOE parallel robot mechanism is very different from a 6-DOE parallel robot mechanism in kinematic characteristics. This paper has highly theoretical level by using screw theory.This paper is also an important supplyment and application of deficient-rank 3-DOF parallel mechanism theory.At the same time it is also important for robot control and path planning etc.