Abstract
In this paper, a new spatial three degree-of-freedom, that are two degrees of translational freedom and one degree of orientational freedom, parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The kinematics problems and velocity equation of the new parallel manipulator are given. The three kinds of singularities are presented. The parallel manipulator has wide application in the fields of industrial robots, simulators, micromanipulators, and parallel kinematics machines.
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