MODELING OF NEW SPATIAL PARALLEL STRUCTURES WITH CONSTANT PLATFORM ORIENTATION USING PLANAR PARALLEL MODULES

The use of simple planar modules as basis in the development of innovative parallel structures leads to optimized solutions for a wide area of applications without the need of redesign. The authors propose the use of simple two degrees of freedom (DOF) modules with the actuators situated on the fixed platform for the development of a family of 3-DOF parallel mechanisms with constant platform orientation. The kinematics of each mechanism is computed along with the workspace generation emphasizing the differences which appear for different robot sizes and joint geometries. Different positioning trajectories are generated based on the kinematic model of each family of parallel mechanisms.

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