Kinematic analysis of a novel 3-DOF 3-RPUR translational parallel mechanism

In this paper, a number of kinematics problems of a novel 3-DOF 3-RPUR translational parallel mechanism are studied. Firstly, based on the imaginary mechanism method and influence coefficient method, the first and second-order influence coefficient matrices of the mechanism are deduced and the kinematic equations are established. Secondly, the velocity and acceleration curves of the upper platform are drawn after given inputs. The researching result of this paper possesses important significance on the design and application of this parallel manipulator.