SIMPLE-MOTION TRAJECTORY IN WORKSPACE OF DEFICIENCY-RANK THREE-DOF PARALLEL MANIPULATOR

Definition of deficiency-rank mechanism is given at first in this paper. The instantaneously rotational axis and continuously rotational axes are analyzed. The translational route, and the pure-rotational circular route,and the several involute routes of the moving platform are discussed. Some atlases of simple motion routes in workspace are set up, which will be helpful in robot trajectory planning.