Kinematics and Dynamics Analysis of a Three-Degree-of-Freedom Mechanism

To solve the problem of structural coupling of the traditional three-degree-of-freedom(3-DOF) platform, a series-parallel 3-DOF mechanism suitable for heavy loads, large workspace and structurally decoupled is proposed. Firstly, the kinematic equation of the platform is deduced by using the method of coordinate transformation. Secondly, the dynamics is analyzed by using the Lagrange method and the principle of virtual work. Finally, the kinematic analysis is verified by virtual prototype constructed in Adams. The results show that the displacement and velocity trends of cylinder piston solved by Adams are the same as those solved by Simulink under the same input conditions, which verifies the correctness of the kinematic model of the 3-DOF platform. This work provides a foundation for the subsequent design of the power mechanism of the 3-DOF platform and the construction of the platform.