Singularity analysis of a novel three translational DoF parallel robot considering kinematic asymmetric property

The particular family of lower mobility parallel manipulators by employing modified version of Delta robot is proposed in this paper. The proposed novel mechanism like ordinary Delta parallel mechanism has three degrees of pure translational freedom. One of the main differences between this mechanism and Delta parallel mechanism is the position of robot's three active joints relative to each other which has caused the change in geometry of platforms, and shapes the asymmetrical structure in the robot mechanism and its workspace. Another difference arises from an architectural optimization methodology by consideration of mixed performance index which has been utilized in this mechanism for reaching a better compromise between the dexterity of manipulator and its workspace. After introducing architecture of the robot, developed kinematic closed-form solution is verified using MSC. Adams©. Then Jacobian matrix is generated in order to evaluate the singularity problem of proposed mechanism. After that, workspace of the robot is investigated and compared with ordinary Delta mechanism.