Design and Optimization Research of a Novel 3-DOF Translational Parallel Manipulator for Waste Disposal Teleoperation

Abstract

This paper presents a novel parallel manipulator for waste disposal teleoperation.In the structure design of the manipulator,the manipulator is proved that it can only achieve the 3-DOFtranslational motions, and the DOF number is calculated.The kinematics analyses are carried out for the manipulator.Meanwhile, the forward equations are derived and the forward kinematics solutions are obtained using the Newton iterative method. The motion characteristics and kinematics are proved and calculated,the singularity,dexterity and the working space are analysed with simulation tools.