Trajectory Planning Simulation of 3-DoF Parallel Wrist Mechanisms Based on SimMechanics

In this paper, the trajectory planning problem of a 3-DoF parallel wrist mechanism based on SimMechanics is proposed, which is a symmetric spherical 3-RRR parallel mechanism. The formulation of the inverse kinematics for the mechanism is firstly established by D-H matrix method, and the analytical solution is obtained. Then, the trajectory planning analysis of the mechanism is performed. Finally, the mechanism model is constructed based on the SimMechanics module of Matlab/Simulink, and the trajectory planning simulation of the mechanism is carried out. The simulation results agree well with the theoretical results, which indicate that the proposed method is feasible and convenient for the trajectory simulation of parallel mechanisms.