Performance Analysis for 3 - RR(RR)R Parallel Mechanism Based on Hessian Matrix

In this paper, the velocity and inertial force performance of a new 3-RR(RR)R parallel mechanism are analyzed by global conditioning index which includes Jacobian matrix and Hessian matrix, and this index is different from the old one which only includes Jacobian matrix. The performance atlas are given, and the mechanism's parameters can be easily selected which are proper to improve the mechanism's performance. The conclusion presented in this paper provides underlying theoretical grounds for the optimum design of the 3 - RR(RR)R mechanism.