MODEL AND NUMERICAL SOLUTION FOR ASYMMETRIC PARALLEL ROBOT KINEMATIC PROBLEM 3URS

Abstract

In the medical field, there are a number of asymmetric parallel robots that have very complex kinematics. The function of these robots is the actuator for physical therapy, rehabilitation or CT table (tomography). Although the parallel manipulator has the advantage of creating high mechanical rigidity and high accuracy, the asymmetric parallel structure is the most complex group of robots. This article refers to an asymmetrical parallel structure robot 3URS designed by South China University of Technology, Guangzhou, China. The mechanical structure is complete, but the kinematic investigation of this structure is left open. Within the scope of this paper, we introduce the mathematical model, methods and tools we propose to prepare kinematic data for this robot. The results show that our proposal is completely appropriate.