Synthesis of Reconfigurable Positioning Parallel Manipulator of a Class Robomech

In this paper the methods of structural and dimensional synthesis of reconfigurable positioning parallel manipulator of a class RoboMech are presented. These parallel manipulators are formed by connecting the output point to the base by three closed kinematic chains: passive, active and negative. Parameters of synthesis of the active and negative closed kinematic chains are determined on the basis of the formulated Chebyshev and least-square approximations.