Kinematical Analysis and Simulation of a New Parallel Mechanism for Robotics’ Application

Abstract

In this paper, the features from the kinematical point of view for a new 6 DOF parallel mechanism (6–3 PRRS) are investigated and analysed, using the AutoCAD software package for simulation. After a briefly introduction to the present robot mechanisms structure, the proposed architecture of the mechanism, is presented. Then, a structural analysis of its class spotlights the specific features of this mechanism, which can be favourably used in some work conditions. The manner of how were both the direct and inverse problems for positions solved (analytical and numerical), is presented. Their solutions are discussed and by giving examples, graphically simulated.