The kinematics and statics analysis of a 2-DOF three branches parallel mechanism

According to the parallel mechanism which is less than six degrees has many merits, this paper presented a kind of two-degree-of-freedom and three branches parallel mechanism, introduced this mechanismpsilas composition, and induced the direct and the inverse solution formulas of this parallel mechanismpsilas kinematics and statics, with the Jacobian matrix and its inverse matrix obtained. Through analysis we can see that this parallel mechanismpsilas kinematics and statics solution has the explicit expression, and this parallel mechanism is easy to realize the real-time control, could satisfy the project practical application, and has the widespread project practical value.