Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator

Qiang Zeng*, Kornel F. Ehmann, Jian Cao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

33 Scopus citations


3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator's subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.

Original languageEnglish (US)
Pages (from-to)648-657
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Issue number6
StatePublished - Dec 2014


  • Displacement group theory
  • Kinematics
  • Mechanism design
  • Parallel manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator'. Together they form a unique fingerprint.

Cite this