Abstract
This paper concerns the evaluation of kinematic and static characteristics of 3-URU-type pure rotational parallel mechanism. Its kinematic characteristics are represented by the relationship between the output velocity and input velocity. Static characteristics are represented by the relationships between output force and constraint force, and between output moment and input torque. Based on these relationships, we propose evaluation indices, each of which is nondimensional quantity. The effectiveness of these indices is numerically confirmed. We also propose an index to evaluate these three characteristics for a prescribed workspace. Finally we show an example of kinematic synthesis based on this index.
