The Screw Motion Simulation on 3-RPS Parallel Pyramid Mechanism

In this paper, a 3-RPS pyramid mechanism is analysed. Three constraining force screw limit the translations of the pyramid in three directions, only three rotating freedom is allowed in spatial. The mechanism has screw motion along its diagonal. The input rationality of the mechanism is discussed using the screw theory. We build up the model of this mechanism with the application of MATLAB, study the simulation of the screw movement, get a series of movement curves and verify the theories analysis by the numerical example.