Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives.

At present, there is a growing demand for parallel mechanisms with fewer inputs and more outputs. These mechanisms are highly sought after in industries such as aerospace, antenna, and entertainment facilities, among others. Therefore, this paper proposes a new parallel mechanism (PM) that utilizes separation of constraints and drives, resulting in centralized drive management. Thereby achieving a small amount of driving to drive multiple parallel moving platforms. For example, 3nRRS/PPPS parallel mechanism. In this study, we utilize the closed-loop vector method to obtain the inverse solution for the 3RRS/PPPS parallel mechanism. To perform a static analysis, we construct a complete Jacobian matrix for the mechanism. Under the premise of satisfying the workspace, the key dimensional parameters of the mechanism were optimized with the objective of improving the load-carrying capacity of the mechanism and minimizing the driving force. The method of complete separation of constraints and drives is easier to centrally manage drives, greatly improving energy utilization and work efficiency, and having a wide range of application scenarios in antenna, entertainment facilities, and other situations.