Kinematic analysis of three-degrees-of-freedom parallel manipulator with crank arm actuator

This paper presents a novel design of a three-degrees-of-freedom parallel manipulator. This manipulator has a crank arm type actuator instead of linear actuator, which is moved by means of servo motors. It has two degrees of orientation (Pitch and Roll) and one degree of translatory motion (Heave). Design is based on crank arm type actuator which can reduce the manufacturing cost without compromising on accuracy and precision. This paper develops an analytical method to analyze the basic kinematic equations of manipulator. Results are implemented using Matlab and are presented in graphical form; moreover Maplesoft MapleSim 6.1 was used for simulation purposes.