Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator

This paper presents an alternative design of a three degrees of freedom manipulator based on the concept of in-parallel actuated mechanism. The manipulator has two degrees of orientation freedom and one degree of translatory freedom. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. Several possible applications which include the inparallel mechanism as part of the manipulation system are suggested.