Ismail Mobasher - Department of mechanical engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran
Yadollah Farzaneh - Department of mechanical engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran
Javad Enferadi - Department of mechanical engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran

Parallel manipulators have been used widely in industry and machining and their unique assets set them apart from serial manipulators such as accuracy, rigidity and ability to manipulate large loads. Few jobs have been done to optimize the efficiency particularly in terms of kinematics constraints which are indispensable part of the actuation system. Trajectory planning assist the system to travel the path designed more accurately while satisfying the limits applied by the actuators. Sadly few works have analyzed the devastating consequences of high rate of acceleration namely jerk which would definitely end in the system’s breakdown. S-Curve Velocity profiles have been used particularly in machining due to their distinctive properties i.e. continuity in velocity profile and consequently continuity in acceleration and jerk which ideally lead to less vibration. In this paper a new trajectory planning for a fully planar parallel manipulator is utilized to minimize the acceleration rate so as to avoid undesirable shakes and let the system survive longer

3RRR parallel manipulator, Trajectory Planning, S-Curve Velocity Profile