Kinematic Performance Analysis of the 3-U(RPRGR)RU Parallel Robot

The paper focuses on a unique parallel robot construction with three degrees of freedom that is driven by geared linkages actuated by linear actuators. The ability to avoid singular positions of the first type, second type and the broad angular positions imposed on the links of the URU kinematic chains, due to the actuating RPRGR linkage, are the key benefits of this arrangement. This paper aims to identify and evaluate the robotic structure's kinematic performance. MathWorks MATLAB was used to evaluate different setups and determine the performance indices of the presented structure.