Optimizing some configuration design about some new 2T1R partly-freedom parallel robot with kinematics theory

their working-space and singularity characteristic are analysed.Some kinematics problem about these robots are validated by kinematics imitation

it will make important foundation for practice application and product exploitation.Such conclusions are got that kinematics chains will make great influence to the working-space.The conclusion is that these parallel mechanism robot has no singular/uncertain position in the work space and have good maneuverability by analysis their singularity characteristic.Through kinematical simulation to the 2T1R parallel robots

some conclusions are got that they can realize 2T1R movement

there are 3 DOF

and movement curves of displacement and velocity are smooth.Movement flat can sway in large-scale and got biggish working space.