Topology and analysis of the singularities of a parallel mechanism with three degrees of freedom

This paper describes the topology, geometry and kinematics of a translational parallel mechanism with three degrees of freedom. Basic topological and geometric conditions for ensuring exclusively translational motion of the driven link relative to the base are formulated. Fundamental relations for the kinematic analysis of the system are introduced. The equations are needed to describe and solve the direct and inverse problem of the kinematics and to provide a basis for the analytical definition of the mechanism's singular configurations and their determination.