| This paper analyzes two lower-mobility mechanisms on kinematical and dynamical performance.These mechanisms are 3 DOF (degree of freedom) planar symmetrical parallel mechanism 3-RPC and 3 DOF planar symmetrical parallel mechanism 3-RPC with tetragonal platform.Firstly, the spatial configuration of a novel 3-RPC parallel mechanism is analyzed by using the position inverse solution,then influence coefficient matrix are established by adopting the methods of virtual mechanism, use of influence coefficient method and differential method separately calculated input speed and input acceleration of the simulation curve,verify the correctness of the influence coefficient matrix .Secondly, the velocity and acceleration of the 3-RPC mechanism are analyzed, two performance atlases are given. Furthermore, the mechanism dimensions are changed, and the work spaces of the mechanisms with different dimensions are searched. Then the influence of change of mechanism dimensions on the mechanism performance is discussed within the range of accessible work space. Emphatically, the extent of influence of Jacobian matrix and Hessian matrix on the acceleration of mechanism is discussed.Finally, OpenGL software is used to carry out model simulation for the mechanism.In this paper, two-order kinematic influence coefficient matrix is used to analyze mechanisms'kinematics performance. And it should have some significance for not only the mechanism design, but also deeper research on performance of mechanism. |
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