SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR

This paper presents the design and analysis of a novel five degrees-of- freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, robotic machining applications. The 2- R(Pa-IQ)RR, R(Pa-IQ)R has two rotational DOFs, one parasitic rotation, three translational DOFs. In comparison with other 5- 6- DOF PKMs, this PKM possesses pairs coplanar legs that contain nested chains, it makes exclusive use revolute prismatic joints. inverse is extension geometric (vector) method inner outer chains. forward was solved using Newton Raphson (NR) method. results analyses were validated SolidWorks ®  MATLAB simulations.