Position Analysis and Dimensional Synthesis of Tripod Parallel Manipulator

Three degrees of freedom (3-DOF) tripod parallel manipulator is proposed in this paper. The aim of this paper is to perform the modelling, simulation, position analysis and dimensional synthesis of the tripod parallel manipulator. The tripod was modeled and simulated by using ADAMS. The concept involved in this paper is based on the transformation of motion between screw pair and the spherical pair through the links. The links are connected to the screw pair. A set of kinematic equations was formulated for the parallel manipulator. A program was written in C for interfacing kinematic equations with the computer. In order to confirm the results obtained by the analytical and ADAMS was used for solving the kinematic problems involved. Synthesis of parallel manipulator was carried out by considering the parameters like link length and moving platform radius. The dimensional synthesis was taken into account for determining the suitable dimensions of mechanisms by logical approach.