Dynamic Analysis of a 3-DOF Translational Parallel Mechanism with Hinged End Structure

To meet the requirement of high-performance 3D printing, a three translational and one rotational (3T1R) parallel mechanism is designed based on the topology design theory and method of position and orientation characteristic (POC). Firstly, the topological characteristics of this initial mechanism are analyzed using the POC equation. On this basis, the moving platform is infinitely converged to a point, and the end connecting rods of the three branches are hinged at this point. Then the end hinged rod of the mechanism is redesigned. Thus, a three-translational parallel mechanism with only revolute pairs and end hinged structure is obtained. Secondly, the kinematic equations of the parallel mechanism are constructed by the projection and vector methods based on the relationship between the input joints and the end articulation points, and the Jacobi matrix is obtained. Finally, a simplified dynamics model of the mechanism is established based on the Lagrange multiplier method and compared with the ADAMS simulation results. This study not only provides a theoretical basis for the optimal design and control of the dynamics of the end-articulated triple parallel mechanism in this paper, but also provides a feasible method for the analysis and modeling of other end-articulated parallel mechanisms.