Kinematics analysis of the CUR translational manipulator

The paper describes the kinematics analysis of a new translational parallel manipulator (TPM). The manipulator consists of a base connected to a moving platform by three conceptually identical legs with a CUR chain. The analysis has been carried out in separate stages: at the first stage it was proved that the moving platform does not rotate and at the subsequent stages the equations of the forward and inverse kinematics were developed. Some considerations on both the rotational and translational singularities and on the workspace reached by the moving platform are set forth throughout the paper.