Design, kinematic and dynamic modeling of a novel tripod based manipulator

This paper proposes a novel three-degrees-of-freedom (3-DOF) hybrid manipulator, 3PU∗S-PU, which evolves from the general function (Gf) set theory. After discussing the advantages of this new type of hybrid manipulator, this report analyzes the kinematic and Jacobian matrix of the manipulator. Subsequently, the kinematic performances, including stiffness/compliance, and workspace, undergo analysis, followed by the multi-objective optimization of the compliance and workspace. The Lagrangian method provides the framework for briefly analyzing the dynamics of the proposed manipulator. Finally, the results of this assessment comprise a guideline for controlling the manipulator.