Kinematics analysis of a parallel robot with 3 dof and 4 segments in pure translation

الملخص EN

In this paper we present the direct and inverse analysis of a geometrical model of an UPS manipulator with three degrees of freedom added to a PPP passive central segment.

This structure provides a pure translation motion.

We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix.

Further, we determine the reciprocal relations between cartesian and angular velocities of the endeffector via articular velocities by direct re-inversion of the Jacobian matrix.

This study aims of implementing the control of a parallel robot manipulator.

A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.