Inverse Kinematics Analysis and Workspace of a New 3-RRRR Parallel Manipulator

This paper presents a new 3-RRRR parallel manipulator. In the proposed mechanism, the revolute actuators are fixed to the base, which leads to a reduction of the inertia of the moving links and hence makes it attractive, particularly when high-speed motions are required and electric actuation is considered. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body in the space with high-speed, accuracy and high stiffness or as a simulator or others high-precision or high-speed devices. After introducing the mechanism, inverse kinematics analysis is presented. By the virtue of complexity of analytic solution, an algorithm is utilized which can numerically find possible of solutions and choose the one with applicable configuration. Then the workspace of manipulator is obtained by means of proposed numerical solution.