Abstract:

：A novel 3-5RS parallel mechanism which has five-bar close-loop structure links is proposed due to its simple structure and easy solution. Closed-vector-circle method is used to solve the forward and inverse kinematic solution of the mechanism. Speed and acceleration of input and output equation are deduced by link constraint equation derivation. The workspace of the parallel mechanism in a general configuration is given. Stiffness performance is analyzed based on Jacobian matrix. Compared with 3-RRS parallel mechanism, the results show that the stiffness performance of the mechanism is improved obviously. The trajectory planning of continuous linear processing tasks in industrial production is carried out, the simulation results verify the theoretical calculation and model establishment are correct and the ability of the mechanism to implement motion.

Key words: closed-loop structure, kinematics analysis, performance analysis, trajectory planning, parallel mechanism