Parallel Manipulators

Hi, I can not find information about this manipulator.

From what I can see it's just a regular parallel SCARA, the only difference is one of the driving links has been parallelized to prevent rotation at the effector. This is usually unnecessary, you can deal with the hotend rotating a little along the z axis, but can be useful if you have multiple hotends in order to turn things into a fixed offset rather than yet another trig function to bog down the processor (to deal with the rotation of the effector).

If this is a simple parallel SCARA, why is it not relevant and does not have the information that someone worked on it?

In search of direct kinematics, I found publications (affixed), only one does not understand how to find Q₃

Edited 1 time(s). Last edit at 11/20/2017 11:36AM by yuramaliy.