Design and Control of a Novel 3-DOF Parallel Robot

This paper proposes a new configuration of a 3 DOF parallel robot which uses revolute and spherical joints. It also presents the inverse kinematic model and proposes a PID-type controller with tracking to asymptotically track a desired reference trajectory. This 3 DOF parallel robot can be utilized as a motion simulator or ankle rehabilitator robot. Some simulations were performed with the virtual prototype in MD ADAMS software to verify the performance of the PID-type controller. Finally, preliminary experimental tests using a physical prototype are presented as well.