Kinematics analysis, dynamic modeling and verification of a CRRR 3-DOF spatial parallel robot

In this paper, kinematics analysis and dynamic modeling of a novel spatial parallel robot is elaborated. The proposed mechanism is to be exploited in a compounded serial-parallel mobile robotic system to accomplish stabilized heavy object manipulation by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to acquire a suitable maneuverability and fulfill the tipover avoidance of the aforementioned robotic system after grasping heavy objects. The proposed mechanism is made of three legs while each leg has one active degree of freedom (DOF) and consequently, the mechanism would be 3-DOF. In order to investigate this novel CRRR parallel robot, inverse kinematics of the mechanism is discussed. Next, the dynamic model of the mechanism is developed. Then, the verification of the obtained dynamic model is guaranteed utilizing two various rational maneuvers. Finally, the obtained results and remarks are concluded and the future research is expressed.