Kinematic Analysis of the 4-U(RPRGR)RU Redundant Parallel Robot

The work focusses on a novel redundant 3DOF parallel robot, that is actuated by linear actuators through geared linkages. One key advantage of the structure is the ability to avoid singular positions and the ability of having broad angular positions between the links of the Universal-Revolute-Universal joints (URU) kinematic chains. Also, the presented structure has the capacity to maintain imposed workloads in the event of actuator failure due to kinematic redundancy. Determining and validating the robotic structure’s kinematic behavior is the aim of this work. In this paper MathWorks MATLAB was the main computing environment evaluate various geometric configurations and imposed trajectories for the redundant parallel robot and verify the achieved analytic results for the kinematic behavior.