Kinematic Analysis of a Novel 3-DOFs Parallel Manipulator

This paper focuses on the kinematic analysis of a novel 3-DOFs parallel manipulator. This parallel manipulator is a modified version of the well-known Tricept robot, achieved by making two of the three active limbs and the passive limb coplanar. The inverse kinematic problem is solved and the velocity equation is given. There are at most three real solutions, which are described in closed forms, for the forward kinematic problem of the proposed parallel manipulator. Through the analysis of local and global conditioning indices for a given workspace, it can be found that the kinematic performance of this parallel manipulator is similar to that of the Tricept