A Delta-CU -- Kinematic Analysis and Dimension Design

According to the topological structure design method for parallel mechanism (PM) based on the position and orientation characteristics (POC) equation, a so-called Delta-CU, 2-R//R//P(4R)//R⊕1-RSS PM is first presented. It is proved that the PM can achieve three-translation output. Second, both the forward and inverse solutions for the position analysis are derived. Besides, the workspace analysis is then performed based on the inverse position equations. Furthermore, the matching relationship among \( (R - r), \) \( l_{1} \) and \( l_{2} \) is obtained to ensure its maximum workspace. The PM has the advantages of simple structure, easy assembly and maintenance, etc., and can replace the Delta PM. This work lays a foundation for the dimension optimization, dynamic analysis and the prototype design of the Delta-CU PM.