Kinematical Analysis on Three-DOF Cylindrical Industrial Manipulator

Base on robot D-H method, the features of three-DOF cylindrical industrial manipulator are analyzed, the motion equation of robotic mechanisms are deduced by using coordinate transformation method and symbolic method. Then three-DOF cylindrical industrial manipulator inverse kinematics solving analytic formula is found. That provides a basis for the position and speed control of actual three-DOF cylindrical industrial manipulator.