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This paper takes a kind of 3-TPT Parallel Machine Tool (PMT) as the objective of research. The positive and inverse kinematics mathematical model of constraint chain are established through the kinematics analysis to the constraint chain of this machine, the inverse kinematics model that has unique solution is also further obtained after the joint angle ranges in the machine were determined. Then the mathematical model about velocity and acceleration of the joints in the constraint chain are also solved in this paper. The analysis results of this paper have laid a theoretical foundation for dynamics analysis, precision analysis, control system design and prototype manufacturing of this Parallel Machine Tool.

The Kinematics Analysis and Modeling about the Constraint Chain of a 3-TPT Parallel Machine Tool