Abstract:This paper presented a parallel robotic manipulator having combined DOF, i.e., one translational and two rotational DOF, called PRoM-120. PRoM-120 is constructed by using 2PRU/PRS kinematic chains (KCs) and arranged in an asymmetric configuration. The objective of the research is to determine the workspace and to evaluate the performance of PRoM-120 for three cases based on the numerical values of its kinematic constants. The workspace is calculated by applying the discretization method. The inverse kinematic … Show more
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