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Kinematic Analysis of a Novel 3-DOF Parallel Robot with 4 Limbs

By Wang Zhongfei, Qian Xianfa, Ji Shiming, Wan Yuehua and Pan Yan


Abstract: A novel 3-DOF spatial parallel robot with four identical PRPAR kinematic limbs is proposed, which belongs to redundant actuated parallel robot, and its kinematics including motion property, inverse problem, forward problem and workspace are studied. After a short description of the novel architecture, then its kinematic modeling is built through the D-H parametric notions and the coordinate transformation technique, which verifies that this novel parallel robot has pure spatial translational motion. Follow these analysis, the inverse and forward kinematic problems are solved with analytical closed-form, its inverse problem has only one solution for each actuated joints, and its forward problem has only one preferred solution to certain assembly manner. Finally, a case study is analyzed by numerical method, including the determination of workspace, simulation of the inverse and forward kinematic solutions. Key-Words: Redundant Actuated Parallel Robot D-H notations Kinematics Workspace

Year: 2014
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