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A new type of 3-DOF parallel mechanism with analytical position forward solution is proposed by the author, and its reverse dynamic equation is solved. Different from t he traditional dynamic paper using inverse kinematics, the displacement, velocity and acceleration equations of the mechanism are established and solved by forward kinematic analysis. T he inverse dynamic equation of t he mechanism is constructed and solved by analyzing the force on each member and based on Newton-Euifler method. Through Matlab example and ADAMS simulation, the inverse dynamics is verified by an example. The maximum driving force error of each moving pair is 1.32%, 5.8% and 5.2% respectively. This paper provides a theoretical basis for the design, manufacture and application of the mechamsm. [ABSTRACT FROM AUTHOR]

The Fewer-input and More output(Fi-Mo)parallel mechanism(PM)has potential applications. However its investigation and application are fewer. This paper proposes a novel Fi-Mo PM with a single input and outputs of three-translation and one-rotation(3T1R). An analysis for main topological characteristics of the PM is also performed, including position orientation characteristics(POC), degree of freedom(DOF)and Coupling Degree(κ), which proves its coupling degree κ is one. Then, according to the kinematics modeling principle based on ordered single opened chain(SOC),proposed in author's early work, the solving methods for the forward position problem of the PM are given. At the same time, the inverse position solution equations are derived, and Jacobian matrix is obtained through the constraint relation of the PM. In addition, the output velocity and acceleration calculation formula are obtained that is verified by a numerical example. Last, a prototype of parallel vibration screen based on this 1-DOF 3T1R Fi-Mo PM is designed and illustrated. This work lays a theoretical foundation for the design and application of the PM. [ABSTRACT FROM AUTHOR]

2PUS-2PRU parallel mechanism is introduced and designed which has 4 degree-of-freedom(DOF)motion output consisting of 2DOF translational motion and 2DOF rotational motion. In this paper, the topological structure of the mechanism is analyzed firstly according to the Position Orientation Characteristic theory(POC). Then the inverse kinematics model of the mechanism is deduced. Secondly, some workspace graphs of the mechanism are obtained by using the limit boundary searching method, which include 3-dimensional workspace graphs of the mechanism, and workspace relations between the displacement input of the sliding guides and the angular output of the moving platform. The influence of the structural parameters on the workspace is analyzed, which would provide a reference for optimization of parameters of the mechanism. Thirdly, the Jacobian matrix is deduced on the basis of the previous kinematics model, from which the singular conditions are analyzed including the singular of the inverse solutions, the singular of the positive solutions and the mixed singular. Also, some CAD models of special singular position are present. 2PUS-2PRU parallel mechanism has some advantages of higher precision, larger rotation angle, and continuous workspace. The mechanism has a good application prospects in the field of motion simulator, attitude leveling and solar tracking. [ABSTRACT FROM AUTHOR]