Kinematics, dynamics and construction of a planarly actuated parallel robot

Kinematic and dynamic analysis of a parallel robot consisting of three planarly actuated links, is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume than the commonly used parallel robots make this high performance-to-simplicity ratio robot very attractive. Experimental model verifies the unique combination of large work volume and high accuracy of this robot.