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.
- Parallel manipulator
- Robotic manipulator
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications