Structural and Kinematic Analysis of the Isomorphic Mechanism of a Parallel Structure for Translational Movements of the Output Link

The article considers the mechanism of a parallel structure with three degrees of freedom, having the property of isomorphism. The ratio between the movements in the drive and the movements of the output link is constant. This is due to the fact that all linear drivers are located parallel to the corresponding axes of the fixed coordinate system, and in each kinematic chain there are two rotational kinematic pairs, the which axes are parallel to the axes of the corresponding linear drivers. In addition, each kinematic chain has two dyads that provide linear motion of the linear driver rod. On the basis of the developed three-dimensional model, a structural analysis of the mechanism with determination of the number of degrees of freedom and solving the problem of its positions was carried out. The proposed mechanism can be applied in many areas of activity of industrial enterprises, including additive technologies due to the growth of automation, robotization and the development of artificial intelligence.

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