Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism’s inverse displacement...