Position Analysis of a Novel Translational 3-URU with Actuators on the Base

A recent patent application of the author has presented a translational parallel manipulator (TPM) with three equal limbs of Universal-Revolute-Universal (URU) type, with only one actuated joint per limb, which has overall size and characteristics similar to the DELTA robot. Translational 3-URU architectures are not novel in the literature, but the presented one has the actuators on the frame (base) even though the actuated joints are not on the base, and a particular geometry, which makes it novel. Putting the actuators on the base allows a substantial reduction of the mobile masses, thus promising good dynamic performances, and makes the remaining part of the limb a simple chain constituted by only passive R-pairs. Here, the position analysis of this novel 3-URU is studied