Kinematic Analysis of a Novel 3-DOF Hybrid Mechanical Arm

The kinematic analysis of the mechanical arm plays an important role on the applications of the mechanical arms. In this paper, a novel 3-DOF hybrid mechanical arm is proposed at first. Then the direct and inverse displacement equations of the mechanical arm, the direct solutions or inverse solutions are unique, are developed based on its architecture feature. At last, the kinematic transmission capacity evaluation indices are defined using the result of the kinematic analysis based on the position analysis, and the distribution of the kinematic transmission capacity evaluation index is plotted in the constant workspace, which can provide theoretical base for the applications of the 3-DOF hybrid mechanical arm, and this 3-DOF hybrid mechanical arm is suitable for the modern industrial applications where a big workspace, high stiffness and good technics et al, are required.