This paper presents an alternative architecture for the Tricept robot to that designed by Neos Robotics (Taby, Sweden). First, a complete kinematic of a new model is introduced. The model is then used to derive the kinematic relations of the robot at the displacement, velocity and acceleration levels. These equations are implemented in an algorithm and a numerical example which simulates the kinematic behavior of the manipulator while following a sample trajectory is illustrated. Numerical and other considerations comparing the two architectures of the Tricept robot are presented.

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