Abstract In this paper, we present a novel three-degree-of-freedom (3-DOF) 3-PUU parallel mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one translational DOF, the 3-PUU parallel robot consists of a fixed platform, a movable platform, and three identical PUU branches. Each PUU branch is composed of one prismatic(P) joint and two universal(U) joints. The mobility of initial configuration of the 3-PUU PM is analyzed using the reciprocal screw theory. Analysis of the 3-PUU PM's mobility of general configuration is performed based on its geometrical characteristics. The movable platform of the 3-PUU PM is demonstrated to be capable of rotating around multiple points. The singularities of 3-PUU PM are discussed. Using the inverse kinematics method, the workspace is obtained. Numerical examples are provided to illustrate the motion characteristics of the 3-PUU PM as a mechanism with multiple rotation centers.

中文翻译：

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一种新型多旋转中心2R1T 3-PUU并联机构的运动学分析

摘要 在本文中，我们提出了一种具有多个旋转中心的新型三自由度 (3-DOF) 3-PUU 并联机构 (PM)。具有两个旋转自由度和一个平移自由度的 3-PUU 并联机器人由一个固定平台、一个可移动平台和三个相同的 PUU 分支组成。每个PUU分支由一个棱柱形（P）关节和两个万向（U）关节组成。3-PUU PM 初始构型的流动性使用互易螺旋理论进行分析。3-PUU PM 的一般配置移动性分析是基于其几何特征进行的。3-PUU PM 的可移动平台被证明能够围绕多个点旋转。讨论了 3-PUU PM 的奇异性。使用逆运动学方法，获得工作空间。