Kinematics, dynamics and control of a novel 3-DOF parallel mechanism with parallelograms linkage structure

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Abstract
Three degree of freedom (DOF) parallel mechanisms (PM) are widely used in light industry, medical industry, agriculture, aerospace and other fields because of their excellent motion performance and cost performance. A novel 3-DOF PM with parallelogram closed-loop chain linkages is proposed to meet the demands of special working environments, and its mathematic models of kinematics and dynamics are obtained. Based on the topology of this PM, the kinematics is analyzed by using the closed-loop vector and derivation method, and the relation of positions, velocities and accelerations between inputs and components can be expressed. On this basis, utilizing the principle of virtual work, dynamic model is established, which lays the theoretical basis for PD computed torque control (CTC). Based on the law of CTC and the virtual prototype, the multi-body simulation experiment is carried out, which proves the correctness of the theory, and provides the foundation for practical application.

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