The mechanism and kinematics of a 3-DOF in-parallel actuated manipulator

In this paper a novel three-degree-of-freedom(3-DOF) manipulator based on the parallel link structure and the pantograph mechanism is presented. The manipulator can translate along two directions and rotate along one axis respectively. Compared with the serial open-chain manipulator the manipulator has higher rigidity, higher accuracy and higher load capacity. The forward and inverse kinematical equations have been formulated The simulation results show this new type of manipulator has excellent kinematical feature and fits heavy load task. A prototype is designed to perform the cutting tool exchange work in machining center.