A new type of parallel robot ROBO_003 is presented. Its mechanisms, kinematics, and virtual prototype technology are introduced. The research of degrees of freedom (DOF) is based on screw theory, a set of screw is separated as a branch, which named as constrain screw. The type of three DOF gained by counting constrain screw, the moving platform’s frame, and base platform’s frame is set, respectively, a complete kinematic research including closed-form solutions for direct kinematic problem. The 3-D model of ROBO_003 is established using SOLIDWORKS; position and orientation of motion platform can be gained using ADMAS, which is a type of virtual prototype technology. The resultant shows that the structure of ROBO_003 is reasonable, three DOF of motion platform can be operated in a reasonable range, the solutions to the direct kinematics are right, and robot ROBO_003 can be used in many industrial fields. The research of this article provides a basis for the practical application of parallel robotics ROBO_003.

中文翻译：

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一种新型并联机器人的运动学分析

提出了一种新型并联机器人ROBO_003。介绍了其机构、运动学和虚拟样机技术。自由度（DOF）的研究是基于螺杆理论，一组螺杆分离为一个分支，称为约束螺杆。分别设置了通过计算约束螺杆获得的三个自由度的类型、移动平台的框架和基础平台的框架，一个完整的运动学研究，包括直接运动学问题的封闭形式解决方案。ROBO_003的3D模型使用SOLIDWORKS建立；运动平台的位置和方向可以使用 ADMAS 获得，这是一种虚拟原型技术。结果表明ROBO_003的结构合理，运动平台的三个自由度可以在合理的范围内运行，直接运动学的解是正确的，机器人ROBO_003可用于许多工业领域。本文的研究为并联机器人ROBO_003的实际应用提供了依据。