Kinematic Analysis of A Novel 3-Crs/Pu Parallel Manipulator

In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of reducing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. in addition, using couple of cylindrical and revolute joints, increased mechanism ability resulted to have more extended workspace.