**Kinematic Analysis of the Triangle-Star Robot with Telescopic Arm and Three Kinematics Chains as T-S Robot (3-PRP)**

Ahmad Zahedi, Hadi Behzadnia, Hassan Ghanbari and Seyed Hamed Tabatabaei

Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/64556

### **Abstract**

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66 Recent Advances in Robotic Systems

In this chapter, the limitations and weaknesses of the motion geometry and the workspace of Triangle-Star Robot {T-S (3-PRP)} are diagnosed after research and consideration of the issues at hand. In addition, they are offered in index form. To remove the problems with the abovementioned cases, at first, a robot with telescopic arms and a similar kinematics chain is rendered to give a kinematics analysis ap‐ proach like Hartenberg-Denavit. Furthermore, in order to increase the workspace, Reuleaux Triangle-Star Robot {RT-S (3-PRP)} with kinematics chains 3-PRP and Circle-Star Robot{C-S (3-PRP)} with kinematics chains 3-PRP and a new improved structure are introduced.

**Keywords:** automation, robot, kinematics, telescopic arms, stiffness, workspace
