Kinematics and workspace of 3-RUU parallel manipulator

Kinematics design of a lower-DOF parallel robot parallel, a 3-UUR pure rotational parallel manipulator, is presented. We first analyzed the instantaneous motions of 3-RUU parallel robot at initial configuration by reciprocal screw, after the inverse kinematics and forward kinematics are analyzed. At the basis on the kinematics, the workspace of parallel robot is presented in the paper. The main influences for the workspace of parallel robot consist of circumscribed circle radius of fixed platform Ra, circumscribed circle radius of moving fixed platform R_b, length of connecting rod l and the angles θ among connecting rod. The performances of such 3-RUU mechanisms are very different for different configurations. The curve of simulation which prove the academic analysis is given by Adams.