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In this paper, we discuss a novel two-module robotic system. One module is a planar 3-DOF 4-PRR parallel mechanism with actuation redundancy. The other module is a 2-DOF single-loop PRRRP parallel mechanism, featuring sliders that move along a circular guide instead of a linear one. The arrangement of these modules provides the end-effector of the second module with 5-DOF motion relative to the platform of the first module. We perform an inverse kinematics analysis of the system and derive a closed-form solution that allows us to calculate the active joint coordinates for a given position and orientation of the end-effector with respect to the platform. A numerical example is also provided. This study and its results serve as the foundation for future research on the kinematics, workspace, and dynamics of the proposed robot.

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Inverse Kinematics of a Spatial 5-DOF Hybrid Parallel-Parallel Robotic System with Two Planar Modules

  • 会议论文

  • 发表日期：

    2026年

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  • Maria Goncharova,
  • Pavel Laryushkin,
  • Alexander Medovshchikov

摘要

In this paper, we discuss a novel two-module robotic system. One module is a planar 3-DOF 4-PRR parallel mechanism with actuation redundancy. The other module is a 2-DOF single-loop PRRRP parallel mechanism, featuring sliders that move along a circular guide instead of a linear one. The arrangement of these modules provides the end-effector of the second module with 5-DOF motion relative to the platform of the first module. We perform an inverse kinematics analysis of the system and derive a closed-form solution that allows us to calculate the active joint coordinates for a given position and orientation of the end-effector with respect to the platform. A numerical example is also provided. This study and its results serve as the foundation for future research on the kinematics, workspace, and dynamics of the proposed robot.