Direct and inverse kinematic problems of tripod-type parallel manipulator

Abstract

The purpose of the work is to study the structural features of the tripod-type parallel manipulator as well as to solve direct and inverse kinematic problems for such a manipulator. The developed algorithms and computer-generated programs for synthesis and analysis of the tripod-type parallel manipulator are useful for designing spatial mechanisms with parallel kinematics with many degrees of freedom, with an arbitrary number of edges and an arbitrary arrangement of segments with different kinematic pairs that can be used in many ways. For example, the foregoing can be used in machine processing of the inner surfaces of the cavities of complex shape, during maintenance and reclamation work in pipeline, during surgical operations in medicine etc.