Some Characteristics of the 3($P$) Parallel Manipulator Inverse Model

Abstract

A 3($P$) parallel manipulator with three degrees of mobility may be used in different purposes, such as a spatial flight simulator. The same equations but with different unknowns characterize its direct and inverse positional model. By adopting the Euler angles for the mobile platform the inverse positional model is simplified. There are determined the parameters of the linear actuators, which are verified for different situations by graphical simulation in a suitable environment.