The underlying architecture of this manipulator is briefly addressed with emphasis on the practical realization of the articulated travelling plate.
An example of saddle surface finishing with this manipulator is given and the movement of actuators with respect to this shape is analyzed theoretically.
On the basis of the kinematic analysis of the 1T3R parallel manipulator, its optimal design considering the force and motion transmissibility is carried out, in which the generalized virtual power transmissibility of this manipulator is defined.
This manipulator is the most appropriate as a simple test case because most manipulators are built in such a way that most of the vertical motion of the manipulator is done by two parallel revolute joints: planar RR mechanism.
The task of this manipulator is to inspect the components of Tokamak, the inspecting velocity of manipulator must be limited in the operating space in order to get the clear pictures.
This manipulator is able to perform the same movements as the Isoglide4 or the Quadrupteron, but, due to its architecture which is made of three pantograph linkages, an amplification of the movements between the actuators and the platform displacements is achieved.
