Kinematic Analysis Of A New Parallel Manipulater

In this paper，the 2-PTR&PSR parallel manipulater is introduced，which has 3 DOF thatare rolling around the axises x and y and moving along the axis z. As a result, the kinematicanalysis and Matlab simulation of the manipulater is achieved.Firstly，the structure and the position of the 2-PTR&PSR parallel manipulater areanalyzed. The manipulater is an over-bounded mechanism,which has 3 independant DOF and2 coupled DOF through the analysis of structure analysis. The mathematical model for theinverse and forward position analysis of the manipulater has been builded. Basedon this work,all solution of the inverse and forward position analysis of the mechine have been gained byusing analytical method in the analysis of position.Secondly，the analysis of the work space and optimazation of the 2-PTR&PSR parallelmanipulater has been achieved. The 3-D curves of the work space are obtained in differentrestrictive condition. The limit of scale coefficient of the work space is achieved byoptimazing the scale coefficient of the club length.Finally，by using the reciprocal screw theory the singularity of the 2-PTR&PSR parallelis manipulator is analyzed. Based on the kinematic Jocabian matrix the index of operationalcapability of the manipulator is analyzed. By the comparation to the work space，nosingularity exist in the given condition.