### INVERSE AND DIRECT GEOMETRIC MODEL OF A NEW PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM AND THREE GUIDING KINEMATIC CHAINS OF THE PLATFORM

#### Abstract

*The paper presents a new parallel robot with six degrees of freedom and three guiding kinematic chains of the platform. Starting from an initial solution with actuators on levels one and three, a new configuration is proposed in order to position all the actuators on the fixed platform. The inverse and direct geometric models are presented. While the inverse geometric model is obtained in closed form, the direct geometric model cannot be solved in closed form, the direct geometric solutions being computed using the Newton-Raphson numerical method. The robot can be used in assembly tasks and as a module for minimally invasive surgical systems. *

*Key Words: parallel robot, six freedom degrees, kinematics chain*

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