Kinematics analysis and mechatronics system design of a 3-DOF in-parallel actuated mechanism

Abstract

The paper aims to analyze the kinematics of a three-degree-of-freedom (3-DOF) in-parallel actuated mechanism, which can be used as a wrist robotic device. Basic kinematic models are given. Due to symmetry in mechanism geometry, the input-output polynomial degree derived in position forward kinematics can be considerably reduced. By analyzing the relationship between the independent and dependent motion parameters, 3 by 3 Jacobian matrices can be obtained. This will enable further real time control of the mechanism. A prototype mechanism is designed and fabricated based on the kinematics analysis and the simulation result of workspace volume computation.