Design, Simulation and Implementation of a 3-PUU Parallel Mechanism for a Macro/mini Manipulator

Parallel mechanisms have the advantages of high rigidity, high precision and fast movement in its workspace. It is a most suitable mechanism to serve as the mini manipulator in a macro/mini manipulator as the mini manipulator needs to have fast response and high resolution in positioning. In this paper, the design of a 3-PUU parallel mechanism to be used as such a mini is presented. Failures are encountered during the process of simulation and implementation of the parallel mechanism. Causes of the failures are analyzed and solutions are proposed to overcome these. Based on the lessons from building the first prototype, improvements were made to the second prototype which effectively removed the shortcomings resulting in a mini which met the requirements for its intended application.