Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel Manipulator

Abstract

In this paper the methods of structural synthesis and direct kinematics of six-DOF three-limbed parallel manipulator (PM) are presented. This PM is formed by connection of a mobile platform with a base by three dyads with cylindrical joints. Constant and variable parameters characterizing geometry of links and relative motions of elements of joints are defined. Direct kinematics of the PM is solved by iterative method.

Direct kinematics of a 3-PRPS type parallel manipulator

“…Three-legged parallel manipulators (tripods) are currently being developed. The following types of tripods are known: 3-URS [8], 3-ESR [9], 3-RRPS [10], 3-RES [11][12][13], 3-PPSR [14], 3-CRS [16], 3-CCC [17,18]. We have developed a modern 3-PRPS type parallel mechanism with six-degreesof-freedom which in comparison with existing tripods, has a large load capacity.…”