Kinematics of A 3-PRP planar parallel robot

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of three prismatic actuators

Kinematic Analysis of the Triangle-Star Robot with Telescopic Arm and Three Kinematics Chains as T-S Robot (3-PRP)

In this chapter, the limitations and weaknesses of the motion geometry and the workspace of Triangle-Star Robot {T-S (3-PRP)} are diagnosed after research and consideration of the issues at hand. In addition, they are offered in index form. To remove the problems with the abovementioned cases, at first, a robot with telescopic arms and a similar kinematics chain is rendered to give a kinematics analysis approach like Hartenberg-Denavit. Furthermore, in order to increase the workspace, Reuleaux Triangle-Star Robot {RT-S (3-PRP)} with kinematics chains 3-PRP and Circle-Star Robot{C-S (3-PRP)} with kinematics chains 3-PRP and a new improved structure are introduced