Determination of the degree of mobility and solution of the direct kinematic problem for an analogue of a Delta robot

A manipulator with three degrees of freedom similar to a Delta robot has been considered. The mechanism degree of mobility has been analyzed and, in the general case, the mechanism has negative mobility. Structural diagram of the mechanism with three degrees of freedom similar to the original one is constructed for solving the direct and inverse kinematic problems. A method for determining mobility based on the study of coupling equations of the mechanism has been proposed. The method is applied to the considered spatial mechanism, an analogue of a Delta robot. The direct kinematic problem has been solved.