Position Kinematics of a 3-RRS Parallel Manipulator

The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16th order polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented.