3-DOF Parallel Mechanism with Alternately Used Moving Platform— Topology, Kinematics and Dynamics

doi:10.3901/JME.2025.21.286

Abstract

Abstract: A novel parallel mechanism is proposed and designed. This mechanism featured a replaceable moving platform and partially decoupled motion. Without modifying its inherent topological structure, it achieved two natural motion output modes—three translations (3T) and two translations with one rotation (2T1R)—through control of its actuated joints. Analyses are conducted for both output modes in the following aspects: ① Topological properties: position and orientation characteristics (POC), degree of freedom (DOF), and coupling degree (k). ② Kinematic properties: symbolic forward and inverse position solutions, workspace determination based on forward solutions, geometric parameter optimization using a differential evolution algorithm, Jacobian matrix derivation via inverse solutions, and singularity analysis. ③ Dynamic properties: variation curves of three driving forces calculated using the virtual work principle-based sequential single-open-chain method. Conceptual designs for application scenarios under both modes are elaborated. The advantages and features of the parallel mechanism with alternately used moving platform are discussed. The study extended the design concepts and methodologies for multi-mode (reconfigurable) mechanisms and broadened the design approaches and application prospects of parallel mechanisms.

Key words: parallel mechanism, alternately used moving platform, topology, kinematics, dynamics

CLC Number:

TG112

SHEN Huiping, SHE Xingyu, LI Ju, YE Pengda, ZHU Xiaorong, ZHU Wei. 3-DOF Parallel Mechanism with Alternately Used Moving Platform— Topology, Kinematics and Dynamics[J]. Journal of Mechanical Engineering, 2025, 61(21): 286-301.

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