Design, fabrication and control of a 3-PRR non-planar parallel manipulator

This paper mainly focuses on fabrication and control of 3-PRR manipulator. The parallel manipulator in discussion in this paper has three legs connecting the base to the top platform. The prismatic joint which is the active joint here is actuated by a lead screw which is coupled with the stepper motor shaft. The planar movement is achieved by inputting the position of one vertex of top platform and orientation of the platform.