Conjoined twins 3RPRS: a novel parallel spatial robot.

In robotics, finding new structures of parallel robots to achieve higher kinematic and dynamic performance is a great matter. This article describes the introduction, design, and modeling of a novel parallel spatial robot. The name "conjoined twins 3RPRS" (CT-3RPRS) is chosen for the introduced robot as its structure is based on an innovative combination of two 3RPRS robots. Initially, the actuators of the 3RPRS robot were shifted from the base plane to the middle plane of the robot, and then three new links were added to balance the robot. Therefore, CT-3RPRS has six links, three on each side of the middle plane (actuator plane) that are connected to the prismatic actuators with revolute joints. The complete kinematic equations of the robot are extracted. Afterward, the singularity analysis is performed. The results of the simulations showed that CT-3RPRS provides a better reachable workspace feature than 3RPRS. The mentioned advantage is achieved while the size of the two robots is the same and the movement range of CT-3RPRS actuators is less. [ABSTRACT FROM AUTHOR]