5 th International & 26 th All India Manufacturing Technology, Design and Research Conference (AIMTDR 2014) December 12 th –14 th , 2014, IIT Guwahati, Assam, India 305-1 CONSTRAINT AND INVERSE KINEMATIC ANALYSIS OF 3-PRS PARALLEL MANIPULATOR YASHAVANT PATEL 1* , P M GEORGE 2 1* DEPARTMENT OF MECHANICAL ENGINEERING,A D PATEL INSTITUTE OF TECHNOLOGY-388121 NEW VALLABH VIDYANAGAR, GUJARAT, INDIA yash523@rediffmial.com 2 DEPARTMENT OF MECHANICAL ENGINEERING,BIRLA VISHVAKARMA MAHAVIDYALAYA-388120 VALLABH VIDYANAGAR, GUJARAT, INDIA pmgeorge02@yahoo.com Abstract Parallel manipulators are one family of devices based on closed loop architecture, which is an emerging field in robotics. Closed kinematic structures of parallel manipulators have inherent characteristics of higher structural stiffness, less accumulation of joint errors and enhanced pay load capacity. Many potential capabilities of such manipulators over serial one have gained their usage in various fields of applications like precise manufacturing, medical surgery, space technology and many more. The present work addresses analytical generic form of inverse kinematic solution of 3-PRS configuration.In this paper, axially symmetric 3-PRS parallel manipulator configuration with 3-DOF is considered for precise manufacturing applications. There are three identical limbs with only one active joint in each limb support a moving platform and make it three degrees of freedom DOFs fully parallel configuration. Mobility analysis is carried out. The equations for position and orientation constraints are also derived for the configuration. The inverse kinematic problem IKP is solved using n-independent variable for n- degrees of freedom mechanism. The obtained results are validated for assumed structural parameters with direct kinematics solutions. It is observed that there is a unique solution for a specified pose of an end-effector within workspace due to fully parallel nature of 3-PRS configuration. Keywords:Parallel manipulator, Inverse kinematics, Constraint equations 1. Introduction Parallel manipulator applications in field of precise manufacturing are noteworthy in recent years. There are several other fields of applications of such configurations and found in many literature due to its inherent characteristics like higher pay load capacity, non accumulation of joint errors and higher structural rigidity. These manipulators configurations are mainly governed by selection of types, number of joints and sequence of jointsarrangement. Normally, forward kinematics is essential for synthesis of a new robotic configuration. Inverse kinematics is imperative for its real applications during shop floor requirements. Forward and inverse kinematic, dexterity characteristics is investigated and reachable workspace is generated from point clouds in 3D space for three degrees of freedom 3-PRC (Prismatic- Revolute- Cylindrical) parallel manipulator by Yangmin Li and Qingsong Xu (2006). More recently, direct kinematics closed form solution of a 4PUS + 1PS parallel manipulator using dialytic elimination method to solve uni-variate eight degree polynomial and inverse kinematic solutions are also presented for said configuration by G. Abbasnejad et al. (2012). The state of any generic body in a space can be described generally by combining translational and rotational movements. Manipulator kinematics can be studied from two points of view by Ceccarelli (2004).Simulation of 3-RPR, 3-UPS and 3-RPS is carried out to determine the torque requirement at time of machining for single and two links linear actuation simultaneously by Arockia Selvakumaret al. (2010).Kinematically new structure of 3-RRRS parallel manipulator with 6 DOF is investigated using inverse and closed direct kinematic solutions.Nonsingular workspace is also determined for this mechanism by Alon wolf and Daniel Glozman (2011). In this paper, 3-PRS multi-loop