Computer Science & Electrical

Computer Science & Electrical

Planning the trajectory of the 3RRR manipulator

Pages: 8  ,  Volume: 41  ,  Issue: 1 , November   2019
Received: 04 Dec 2019  ,  Published: 05 December 2019
Views: 189  ,  Download: 86


# Author Name
1 Coulibaly Bourama
2 Marie Bernard Sidibé
3 Kya Abraham Berthé



The manipulator provides a gain in terms of production rate compared to conventional serial manipulators. The trajectory planning made it possible to optimize the performance of the parallel 3RRR manipulator in its workspace. This planning was done on the octave software, based on the modeling of the manipulator using the inverse geometry method. Which allowed to determine the workspace of the robot. The working space of a parallel robot therefore depends on the different independent kinematic chains that connect the base to the effector (mobile platform).


  • 3RRR parallel manipulator
  • trajectory planning
  • modeling
  • independent kinematic chains
  • Works pace
  • References

    [1] Chen wenjia et al "A novel 4-DOF parallel manipulator and its kinematic modeling." Proceedings of the 2000 IEEE conference on robotics and automation.

    [2] Xin-Jun Liu and Jongwon Kim " A new three-degree-of-freedom of parallel manipulator." Proceedings of the 2002 IEEE conference on robotics and automation.

    [3] X. J. Liu and J. Kim "A new three-degree-of-freedom parallel manipulator" Proceedings of the 2002 IEEE conference on robotics and automation.

    [4] P.Ben Horin, S. Djerassi, M. Shoham and R. Ben Horin "Dynamics of six degrees-of-freedom parallel robot actuated by three two wheel cart" Multibody syst Dyn (2006).

    [5] Configuration de la prise d’origine,

    [6]. J-P. Merlet. Parallel Robots. Springer, 2006. (Cité pages 3 et 17.)