**Authors: **[tex2html_wrap4306]*H. R. Mohammadi Daniali, P. J. Zsombor-Murray, J. Angeles*

**Investigator username:** paul

**Category: ** robotics

**Subcategory:** modelling and simulation

Several planar, spherical and spatial parallel manipulators have been
introduced in the last decade, most likely because of the many
advantages of these manipulators over those of the serial type. We
introduced a new class of 3-DOF parallel manipulators in three versions,
namely, planar, spherical and spatial. The geometric model of planar and
spherical devices consists of two planar and spherical triangles,
respectively, while the spatial version consists of two spatial
triangles. In all of these versions, one of the triangles is fixed,
while the other is movable. Moreover, we can actuate the moving triangle
via three actuators. For a given set of actuator coordinates we
determine the position and orientation of the moving triangle, a problem
that we call *direct kinematics* (DK). We showed that the DK of the
planar device lead to a quadratic equation. On the other hand, the DK
of the spherical manipulator leads to a polynomial of 16th degree. The
DK of spatial manipulator is under investigation. Working prototypes of
all these manipulators are being planned for a second stage of the
project.

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baron@cim.mcgill.ca