%0 Journal Article %A M.A. Hosseini and P. Ebrahimi Naghani %D 2012 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 67, 2012 %T Kinematic Analysis of a Novel Complex DoF Parallel Manipulator %U https://publications.waset.org/pdf/2422 %V 67 %X In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace. %P 1207 - 1211