Mechanical design, kinematic control and teleoperation of the parallel robot robmep

Abstract This paper presents the mechanical design and the kinematic control of the parallel robot RobMep. The robot is being developed at the Polytechnic University of Madrid, Spain. It has 3 degree of freedom in position however it can be oriented under a special configuration of some linear actuators. The robot can slide in seven different ways, however, the orientation is only possible under a special arrangement of some linear actuators. This kinematic characteristic becomes it in a hybrid structure. For each case the inverse and forward kinematic models are given. The models are validated in a virtual environment developed in MatLab. A human operator, through a joystick, sends commands to the robot and selects the work way. Moreover, the first steps toward the implementation in the real system are showed.