SUMMARYThis paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-RRS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.

中文翻译：

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3-RRS并联机构运动学性能评估

摘要本文提出了一套新的指标来评估 3-RRS（R和S分别表示旋转关节和球关节，R表示活动关节。），平行机构，其平移和旋转运动是强耦合的。首先，指数是使用解耦的整体雅可比矩阵制定的，该矩阵是使用坐标变换开发的。然后，研究了齐次无量纲参数对这些指标的影响。此外，3-的维度合成RRS 并联机构是通过最小化运动性能指标的平均值及其标准偏差来实现的。结果表明，所建立的方法有利于并联机构的良好全局运动学性能。