Screw-System-Based Mobility Analysis of a Family of Fully Translational Parallel Manipulators

Table 1

Simulation parameters and results for the 3-𝑅𝑃𝐶-Y parallel mechanism.

Simulation parameters		Initial configuration	Final configuration
𝑎=433.01 mm	𝑑1 (mm)	446.29	519.80
Time = 5 s	𝑑2 (mm)	422.69	472.14
𝑑1̇=10 mm/s	𝑑3 (mm)	470.34	456.30
𝑑2̇=3 mm/s	𝜃11 (deg)	115.01	121.51
𝑑3̇=−5 mm/s	𝜃12 (deg)	88.73	69.82
	𝜃13 (deg)	63.96	76.21
	𝑝𝑥 (mm)	124.64	−31.26
	𝑝𝑦 (mm)	−197.10	−271.67
	𝑝𝑧 (mm)	422.58	443.15
	𝛼, 𝛽, 𝛾 (deg)	0	0