Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators
The parallel manipulators are multi-mobile planar or spatial mechanisms with two to six kinematical chains that connect two rigid bodies, generically named platforms. The parallel manipulator is a complex topological structure, having the joints of various types. The most frequently utilized joints are: the mono-mobile kinematical pairs (revolute R or prismatic), the bi-mobile cylindrical pairs C and the tri-mobile spherical pairs S. One of the most important problems in parallel manipulators kinematics is finding the solution of direct kinematics. The paper presents a new way for the calculation of mobility and a new method for the direct kinematics of parallel manipulators RSS type, which are driven by three actuators.
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
V. Filip and O. Antonescu, "Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators ", Solid State Phenomena, Vols. 166-167, pp. 197-202, 2010