Forward and Inverse Solution Analysis of 3-URU Parallel Mechanism

This paper introduces 3-URU, a parallel mechanism developed independently. Based on spiral theory, the degree of freedom of the mechanism is analyzed, and it is confirmed that the mechanism can realize three-dimensional translation. An improved Denavit-Hartenberg (DH) method was used to describe the operation space of the branch chain of the mechanism, and the coordinate transformation matrix of the branch chain was established. The joint Angle and the length of the connecting rod of the parallel mechanism were converted into the position and attitude information of the end, and the forward and inverse solution formula was derived. Finally, the kinematics model of the parallel mechanism is built by simulation and the correctness of the forward and inverse solution formula is verified.