Kinematic Analysis of Tricept Parallel Robotic Manipulator

摘要

A Tricept parallel manipulator with radial link has many advantages over those using Dough Stewart platform architecture,including large workspace and high dexterity and so on.This paper deals with its conceptual and kinematic design,including the forward and inverse kinematic models,dexterity analysis,workspace analysis and synthesis,and brings forward a new method to analyze this kind of parallel robot The above-mentioned theoretical methods are proved to be correct by theoretical simulation results