Kinematics and Dynamics Simulation Analysis of a 3-DOF Parallel Mechanism for Application in Hybrid Machine

A novel parallel mechanism with one translational and two rotational coupling degrees of freedom, which can be utilized as the main body module for application in hybrid kinematic machine, is proposed. The inverse kinematics is systematically established based on the closed-loop vector method. In terms of the principle of virtual work and d’Alembert’s formulation, the dynamics formulation is deduced in sequence. Finally, the illustrative simulation example is conducted to demonstrate the analytic results of the kinematics and dynamics, and the analytical solutions are verified by Simulink and Recurdyn collaborative simulation. Simultaneously, the dynamic dexterity is further conducted to evaluate the performance, and the results show that the proposed parallel mechanism has greater dynamic performance, which can be demonstrated practically by the alternative application of the parallel kinematic module for the hybrid machine tool.