Kinematics and Workspace of a Novel Three DOF Translational Platform

Abstract

A novel 2 DOF parallel manipulator is presented that employs only resolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse kinematics produces four solutions for each leg of the manipulator. In general, the four solutions are realized in only two unique leg configurations. The forward kinematic solution is reduced to a quadratic equation. So that in general, there are two poses the manipulator can assume for a given set of input joint angles. The manipulator workspace is also determined for a manipulator with fixed and moving platforms of the same size.