A new architecture of planar three-degree-of-freedom parallel manipulator

In this paper, a new architecture of planar threedegree-of-freedom (3-dof) parallel manipulator is presented. In the proposed mechanism, the prismatic actuators are fixed t o the base which leads t o a reduction of the inertia of the moving links and hence makes it attractive, particularly when high speeds are required and electric actuation is considered. Af ter introducing the mechanism, a kinematic analysis is reported. Then, velocity and acceleration equations are derived. Based o n the geometry of the manipulator, a workspace analysis as performed and a description of the boundaries of the workspace is provided. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body o n the plane with high sti f fness or accuracy. Additionally, the mechanism can find applications in motion simulators or other high-precision or high-speed devices.