Abstract
Most of 6-DOF parallel manipulators (PM) consist of six limbs. These PM possess the advantages of high stiffness, low inertia and large payload capacity. However, such six – limbed fully PM have a limited workspace and complex kinematic singularities. In this paper the method of inverse kinematics of six-DOF three – limbed PM is presented. This PM is formed by connection of a moving platform with a base by three spatial dyads with cylindrical joints. Each of the three active cylindrical joints located on a base of this PM 3CCC has actuators of P-R type. The inverse kinematics of the PM 3CCC is solved on the basis of position analysis of the spatial dyads with cylindrical joints. The analysis shows that 8 sets of inverse kinematic solutions exist for PM 3CCC.
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