Kinematic Analysis and Dimensional Synthesis of a Novel 3-DOF Parallel Mechanism

  • Jintao LiEmail author
  • Chenglin Dong
  • Shunzhou Huang
  • Huihui Zhao
  • Xianlei Shan
  • Haitao Liu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents the kinematic performance analysis of a R(2-RPR)U&UP parallel mechanism that is composed of a planar linkage plus a spatial limb. The dimensional synthesis of the parallel mechanism is carried out by defining two different workspace that enables to achieve a nearly axial symmetry of kinematic performance. A set of homogeneous dimensionless parameters are optimized by minimizing two global performance indices represented by the mean value and standard deviation of the condition number of Jacobian. It shows that for the first definition of workspace the mechanism achieves better kinematic performance.


Parallel mechanism Workspace analysis Dimensional synthesis 


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This research is supported by National Defense Basic Scientific Research program of China (Grant No. JCKY2017203B066) and National Natural Science Foundation of China (Grant No. 51622508).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jintao Li
    • 1
    Email author
  • Chenglin Dong
    • 1
  • Shunzhou Huang
    • 2
  • Huihui Zhao
    • 2
  • Xianlei Shan
    • 1
  • Haitao Liu
    • 1
  1. 1.Key Laboratory of Mechanism Theory and Equipment Design, Ministry of EducationTianjin UniversityTianjinChina
  2. 2.Shanghai Aerospace Equipments Manufacturer Co., LtdShanghaiChina

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