Abstract
This paper introduces a simplified kinematic model for a family of parallel linear manipulators with three degrees of freedom of pure translation. The P^UR topology of the limbs and the adjustable layout of the linear actuators are the main characteristics of such a family. The analytical solutions of the forward and inverse position and velocity kinematics are presented. Then the variations of the manipulator features in terms of workspace and performance indexes are investigated as functions of the actuators arrangement.
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