Computer-aided analysis of a 3-DoF parallel mechanismwith two translations and one rotation

A type of 3-DoF parallel mechanism with two translational DoFs and one rotational DoF around the axis parallel to the translational plane is analyzed thoroughly in this paper. The kinematic solutions and singularities of this parallel mechanism are analyzed in detail and closed-form kinematic solutions for both direct and inverse are given. Some pertaining topics are also investigated, including the condition number and the workspace analysis