Direct and inverse kinematics solutions of a particular type of 3-PSP parallel manipulator

Abstract In this paper, the direct and inverse kinematics problems for a particular type of 3-DOF, 3-PSP parallel manipulator are considered. The proposed direct kinematics solution is based on an existing one in the literature, but with an alternative, simplified second stage in the solution’s formulation. An explicit analytical solution of the inverse kinematics problem is also proposed for one of the manipulator’s operational modes, requiring one pass through the direct kinematics solution. The proposed solutions can be seamlessly extended to the inverted parallel structure.