Kinematic analysis of a general double-tripod parallel manipulator

摘要

The kinematics of a general double-tripod manipulator is presented The double tupod manipulator is based on a spatial three-degrees-of-freedom (3-DOF) parallel mechanism The device possesses a moving platform, a fixed platform, and three legs.Each leg comprises kinematic similar rotary, spherical, and rotary joints. The kinematic model of the mechanism used here consists of a generalized, non-reflective mechanism. The mobility of the mechanism is examined and solutions to the forward andinverse kinematics problems are presented. It is also shown that special geometries of the mechanism result in closed-form solutions for both the forward and inverse kinematics. Numerical results are presented for the general case and also for thesimplified case, and algorithm speed is examined.