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Kinematics Analysis of 3-RCU 3D Model Parallel Robot

Zihao Yan, Hongchang Sun, Chunwei Wu, Minggao Shen, Xuanhan Zhang, Yule Li
Vol. 8, No. 2, pp. 123-128, 2026 DOI: 10.54691/76dkas16 February 21, 2026
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Abstract.This study focuses on the 3-RCU parallel robot as the support mechanism. First, the configuration design of the 3-RCU parallel mechanism is completed, and its degree of freedom (3, including z-axis translation and rotation around x and y axes) is calculated using the spatial mechanism degree of freedom formula, followed by the construction of the mechanism's kinematic model. Through accurate dynamic modeling, the research captures the nonlinear variation of support interface stiffness, providing key parameters for the subsequent design of parallel mechanisms and laying the theoretical foundation for constructing time-varying dynamic models.
Keywords. 3-RCU 3D Model; Position and Orientation Analysis; Parallel Robot.
APA Citation Zihao Yan, Hongchang Sun, Chunwei Wu, Minggao Shen, Xuanhan Zhang, Yule Li (2026). Kinematics Analysis of 3-RCU 3D Model Parallel Robot. Scientific Journal of Technology, 8(2), 123-128. https://doi.org/10.54691/76dkas16

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