Kinematics and Workspace Analysis of a

Novel 3-DOF Spatial Parallel Robot

S. Ali A. Moosavian Ayyub Hasani Ali A. Nazari

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 Out line
1. INTRODUCTION

2. THE HYBRID SERIAL-PARALLEL ROBOTIC SYSTEM

3. KINEMATICS OF THE PARALLEL MECHANISM

3.1 INVERSE KINEMATICS

3.2 FORWARD KINEMATICS

4. VERIFICATION OF THE OBTAINED KINEMATICS MODEL

4.1 FIRST MANEUVER

4.2 SECOND MANEUVER

5. WORKSPACE DETERMINATION OF PARALLEL MECHANISM
6. CONCLUSION
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 hybrid serial-
parallel mobile
robot.

Extending
Workspace of the robot around
its longitude axis

IMPORTANT ISSUE
Tipover IN OBJECT Turnover
stability MANIPULATION stability
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 3-CRRR
R

Extending R
Workspace of the robot around
its longitude axis R
C

Advantages of parallel
Manipulator mechanism
Novel 3-DOF
spatial parallel
mechanism

high stiffness high payload capacity low inertia

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 Inverse Kinematics of the Parallel
Mechanism through geometric approach

the value of Ri
? the values of xp ,yp ,zp


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 Forward Kinematics of the Parallel
Mechanism

the value of Ri
 the values of xp ,yp ,zp
?


cross-point of
three spheres

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 Two maneuvers for validating inverse &
forward kinematics
First maneuver Second maneuver
In 5 (sec) In 8 (sec)

Arbitrary paths for

xp , yp and zp as
desired paths

Inverse kinematic

Compare Ri Compare
with desired with desired
paths paths
Forward kinematic with
simmechanic

actual paths for xp , yp and zp

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 First maneuver

a
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 Second
maneuver

a
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 Workspace Determination of Parallel Mechanism

Workspace of
the middle leg.
Top
3-D view of
of the
the
5/16/2011 manipulator`s
manipulator`s workspace.
workspace 10
 conclusions
 application of a novel 3-DOF spatial parallel manipulator in a
kinematic chain containing serial manipulator and wheeled
mobile robot as a moving platform was presented for the first
time.
 The inverse and forward kinematics of the proposed parallel
manipulator was developed and the workspace of the parallel
robot was symbolically studied.
 Moreover, a case study of workspace determination was
presented numerically to show workspace characteristics.
 In the future research, the suggested mechanism that gives a high-
level maneuverability in the motion, will be exploited to fulfill the
tipover stability and motion control of the described hybrid serial-
parallel mobile robotic system.

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 THANKS A LOT

HAVE A GOOD TIME

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