2011•Unpublished venueRequires access

Kinematics Analysis of Certain Novel 3-Dof Parallel Manipulator

Zhiyong Qu, Zhengmao Ye

Abstract

3-dof parallel mechanism is a variant of the typical Stewart platform, which used three drivers and threes struts instead the six drives of the Stewart platform. In this paper, the length constraint equations of three struts is established and the analytical solution of the inverse kinematics is derived, and the forward kinematics solution of the rotational parallel mechanism is presented based the typical method of the Stewart platform. This kinematics analysis affords great help for the design and control strategy of 3-dof parallel manipulator in the future.

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Key concepts: Kinematics, Parallel manipulator, Stewart platform, Inverse kinematics, Kinematics equations, Forward kinematics, Mechanism (biology), Computer science