Disscussion: “Kinematics of the Translational 3-URC Mechanism” [Di Gregorio, R., 2004, ASME J. Mech. Des., 126, pp. 1113–1117]

Abstract

The author of (1) proposed a 3-URC translational parallel mechanism (TPM) and presented a comprehensive study on the kinematics of the 3-URC TPM. He concluded that “only one solution exists both for the direct and for the inverse position analyses.” However, we do not agree with his result on the inverse position analysis and his statement that Ref. 2 “presented a class of TPMs with linear input-output equations that contain some translational 3-URC mechanisms.”