Determination of motion freedom and direct kinematic problem solution of the mechanism similar to delta robot

The article describes a new manipulator with three degrees of freedom, similar to the well known Delta robot. The analysis of motion freedom of the mechanism was conducted and presented in section 2. It was shown that the mechanism have negative mobility in general case. The improved schematic structure of mechanism with three degrees of freedom equivalent to the previously reported scheme [4] was also proposed in section 2 for the purpose of solving direct and inverse kinematic problems. In section 3 we have shown the new method of determining the mobility of mechanism based on constrained equations analysis. The method is demonstrated by the spatial mechanism similar to the Delta robot.