Kinematic Design of a 3-DoF Robot Manipulator for Automatic handling of Build-Boxes

Abstract: The goal of this project has been to make a prototype model of a 3-DOF PPM manipulator based on an old prototype for the purpose of moving heavy build boxes from a 3D-printer to an oven. The project was focused on the development of the kinematic model of the manipulator. By using parallel mechanisms in the mechanical design the number of actuators could be reduced and the remaining actuators could be placed on the base of the manipulator. The model was simulated in V-rep for motion verification.