Kinematic analysis and design of a new 3-DOF translational parallel manipulator

Yangmin Li, Qingsong Xu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

135 Citations (Scopus)


A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well.
Original languageEnglish
Pages (from-to)729-737
Number of pages9
JournalJournal of Mechanical Design, Transactions Of the ASME
Issue number4
Publication statusPublished - 1 Jul 2006
Externally publishedYes


  • Dexterity
  • Isotropy
  • Kinematics
  • Mechanism design
  • Parallel manipulators
  • Singularity
  • Workspace

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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