Kinematics and Workspace Analysis of a Novel 3-DOF Spatial Parallel Robot

In this study, kinematics design and workspace analysis of a novel spatial parallel mechanism is elaborated. The proposed mechanism is to be exploited in a hybrid serialparallel mobile robot to fulfill stable motion of the robotic system when handling heavy objects by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to obtain an appropriate maneuverability and fulfill the tipover stability of a hybrid serial-parallel mobile robotic system after grasping heavy objects. The proposed mechanism is made of three legs while each leg has one active degree of freedom (DOF) so that themechanism contains 3-DOF. In order to investigate this novel parallel mechanism, inverse and forward kinematics model is developed and verified using two maneuvers. Next, the workspace of the manipulator is demonstrated symbolically, besides a numerical analysis will be studied. Finally, the advantages of exploiting such a parallel manipulator are discussed in order to be used in a hybrid serial-parallel mobile robotic system

Keywords:

parallel manipulator , kinematic modeling , workspace analysis , hybrid serial-parallel mobile robot