Chapter 18 — Parallel Mechanisms

Tripteron robot

This video demonstrates a 3-DOF decoupled translational parallel robot (Tripteron). References: 1. X. Kong, C.M. Gosselin: Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator, Inte. J. Robot. Res. 21(9), 791-798 (2002); 2. C. Gosselin: Compact dynamic models for the tripteron and quadrupteron parallel manipulators, J. Syst. Control Eng. 223(I1), 1-11 (2009)
Clément Gosselin
Courtesy of Clément Gosselin, Université Laval, Canada