Mathematical modeling of a novel 3-PPSS parallel manipulator

Abstract

Parallel Kinematic Machines (PKMs) are widely used for precise applications to achieve complex motions and variable poses for the end effector tool. PKMs are found in several fields, including medical, assembly, and manufacturing, needing higher tracking accuracy. It is often desired to have a compact and simple architecture for the robotic mechanism. This paper explains the kinematic analysis of a 3-PPSS (P-Prismatic joint, S-Spherical joint) parallel manipulator with an equilateral mobile platform. The underlined joints indicate active joints. The forward and inverse kinematics for the proposed six Degrees of Freedom (DoF) mechanism is formulated using the Denavit-Hartenberg (DH) technique. A numerical algorithm is explained to solve the inverse kinematics for the mechanism. The Jacobian matrix has been derived for the mechanism considering its closed-form architecture. The Jacobian matrix is necessary to perform the singularity analysis and further determine the optimized dextrous workspace for the manipulator.