Kinematics analysis of an offset 3-UPU translational parallel robotic manipulator

Ping Ji, Hongtao Wu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

48 Citations (Scopus)


The parallel robotic manipulator has attracted many researchers' attention and it also has growing applications to different areas. This paper proposes a 3-UPU (universal-prismatic-universal) translational parallel robotic manipulator with an equal offset in its six universal joints, based on the zero offset 3-UPU parallel manipulator. The kinematics of the new manipulator is analyzed and its inverse and forward kinematics solutions are provided. The conclusion is that its forward kinematics has 16 solutions instead of two in the zero offset manipulator.
Original languageEnglish
Pages (from-to)117-123
Number of pages7
JournalRobotics and Autonomous Systems
Issue number2
Publication statusPublished - 28 Feb 2003


  • Kinematics
  • Parallel manipulator
  • Robotic manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications


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