Kinematics of the 3-CPU Parallel Manipulator Assembled for Motions of Pure Translation

摘要

The paper describes the architecture of a novel parallel kinematics machine that is characterized by motions of pure translation. It is shown that the Cartesian arrangement of the 3 limbs assures simple kinematic relations and an isotropic workspace, without any rotation or translation singularity. Such good features should allow the design of parallel robots that are characterized by simple controllers and good performances, as an alternative to current mechanical schemes.