Modeling and analysis of a novel 3-DoF spatial parallel robot

In this paper, for a new structure of spatial parallel robots from DELTA robots family that is named MODIFIED DELTA robot, dynamics modeling and verification of is presented. The proposed novel mechanism has three degrees of pure translational freedom. The suggested kinematic structure is best suited to fulfill fast and precise motions for use in medical aspects, machine tool industry and even in form of hybrid serial-parallel wheeled mobile robotic systems for heavy object manipulation applications and studying in tip-over stability fields, which utilizes an architectural optimization methodology for such applications. In this study, the architecture of manipulator and its novel structure is introduced, and then the kinematics model of the robot is studied. Finally, a closed-form dynamics model based on a Lagrange formulation is presented for parallel mechanism and it is verified using MSC.Adams© software. Verification results indicate validity of the exploited model.