الفهرس 
Kinematics AnalysisOnly 14 pages are availabe for public view
 |  | from | 256 |  |  |
| | | from | 256 | | |
Abstract
A Hybrid parallel robot is investigated. The manipulator has four degrees
of freedom and the moving platform is constrained to three rotational
motions about cartesian axes X, Y, and Z, in addition to one translational
motion along Z-direction. The point of interest is the motion control of the
moving table using PID control. The motion planning control for the
parallel robot requires inverse kinematic model, and the workspace. The
workspace is important to be verified if a given trajectory lies completely
within the robot workspace. The Forward kinematic has been deduced to
determine the workspace.