A new 3-DOF parallel manipulator

The paper presents a novel, versatile 3-RRP_RR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.