Kinematics of parallel mechanism based robot manipulator with passive joints variables

Because of potential benefits like, structural rigidity, good dynamic performance and positioning accuracy, parallel mechanism based robot manipulators became more popular over the serial mechanism based robot manipulators. The forward kinematics of parallel mechanism is complex in comparison to the serial mechanism. This paper presents the forward instantaneous kinematics of a six degree of freedom parallel robot manipulator. Three non linear points are considered on the end effector. The presented method is based on the velocities of these points. A numerical example is solved to demonstrate the solution process.