RESUME

In this paper, the inverse kinematics and inverse dynamics analysis of a parallel mechanism is presented. The mechanism consists of three fixed-length legs each supported by a three-wheeled mobile robot. The three legs support a platform, which acts as the end-effector of the mechanism. Two different designs are evaluated: one with ball joints at the top ends of the legs and revolute joints at the lower ends and one with the opposite configuration. Inverse kinematics and dynamics analysis is also performed for the three actuators (mobile robots). Simulations are shown in order to compare the performance of the two configurations. Of the two designs, the one with ball joints at the lower end of the legs is found to perform better