Kinematics and Workspace Analysis of a New 3-DOF Parallel Robot

The object of this paper is a novel un-symmetric 3-DOF parallel robot called 2-RRU&RSR. It can complete the space motion of 2R1T (two rotations and a translational degree of freedom). Above all, the structural characteristics of the mechanism are described. Secondly, the degree of freedom and properties of the mechanism is verified by using the helical theory. Finally, in the light of knowing the positive kinematic solution of the structure, the workspace of the structure is solved and the simulation experiment is performed using MATLAB software.