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

Table 3

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

Simulation parameters		Initial configuration	Final configuration
a = 225 mm	𝑑1 (mm)	427.64	282.51
Time = 5 s	𝑑2 (mm)	511.03	280.55
𝜃̇11=−1.8 rpm	𝑑3 (mm)	511.03	280.55
𝑑3̇=−75 mm/s	𝜃11 (deg)	98.69	68.09
𝜃̇21=−1 rpm	𝜃12 (deg)	55.81	110.89
	𝜃13 (deg)	110.89	55.81
	𝑝𝑥 (mm)	−287.15	100.05
	𝑝𝑦 (mm)	−64.63	105.41
	𝑝𝑧 (mm)	422.73	262.11
	𝛼, 𝛽, 𝛾 (deg)	0	0