Kinematics of a tricept-like parallel robot

The paper presents a dissymmetrical tricept-like parallel robot providing two rotational freedoms and one translational freedom. It has a fixed base and a platform connected by three legs. One leg connects the fixed base and the platform by a universal joint a prismatic joint respectively. The other two legs are UPS chains or SPS chains. All of the three prismatic joints in the robot are actuated joints. The robots are aimed to use in robotics or machining. The mobility of the proposed structure is firstly analyzed. Then inverse kinematics problems are described in closed forms and velocity equation of the new parallel robot is given. After workspace analysis and dexterity analysis, the kinematic characteristics of the robot and the tricept robot are compared.