INVERSE KINEMATICS, FORWARD KINEMATICS AND WORKING SPACE DETERMINATION OF 3DOF PARALLEL MANIPULATOR WITH S-P-R JOINT STRUCTURE

Abstract

This paper addresses the analysis of inverse kinematics, forward kinematics solutions and working space determination for the 3 degree-of-freedom (DOF) parallel manipulator with the S-P-R (Spherical-Prismatic-Revolute) joint structure. An effective approach is developed for the solution of inverse kinematics task in analytical form for given end-effector position. A method for working space determination which uses numerical solution of forward kinematics task is presented.