A new architecture of planar three-degree-of-freedom parallel manipulator

In this paper a new architecture of a planar three-degree-of-freedom (3-dof) parallel manipulator is presented. In the proposed mechanism, the prismatic actuators are fixed to the base which leads to a reduction of the inertia of the moving links and hence makes it attractive, particularly when high speeds are required and electric actuation is considered. After introducing the mechanism, a kinematic analysis is reported. Then, velocity and acceleration equations are derived. Based on the geometry of the manipulator a workspace analysis is performed and a description of the boundaries of the workspace is provided. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body on the plane with high stiffness or accuracy. Additionally, the mechanism can find applications in motion simulators or other high-precision or high-speed devices.