Kinematics Analysis of a 3-dof Rotational Parallel Mechanism

A 3-dof rotational parallel mechanism is presented which has three struts and three actuators and is a plasmodium of the Stewart platforms. The kinematics of this robot is derived, and the kinematics analysis is investigated based on analytical solution of the inverse kinematics and numerical solution of the forward kinematics. This mechanism is popular in the fields of simulators and parallel kinematics machines.