Position Kinematics of a 3-RRS Parallel Manipulator

  • Halil TetikEmail author
  • Rohit Kalla
  • Gokhan Kiper
  • Sandipan Bandyopadhyay
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 569)


The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16\(^{th}\) order polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented.


3-RRS parallel manipulator Inverse kinematics Forward kinematics 


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Copyright information

© CISM International Centre for Mechanical Sciences 2016

Authors and Affiliations

  • Halil Tetik
    • 1
    Email author
  • Rohit Kalla
    • 2
  • Gokhan Kiper
    • 1
  • Sandipan Bandyopadhyay
    • 2
  1. 1.Department of Mechanical EngineeringIzmir Institute of TechnologyIzmirTurkey
  2. 2.Department of Engineering DesignIndian Institute of Technology MadrasChennaiIndia

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