Abstract
Comparing with three-translation Delta Parallel Mechanisms (PM), 4-DOF three-translation and one-rotation (3T1R) PMs have complex topological structures, which result in complex forward kinematics and inverse dynamics solutions. Therefore, the investigation of novel 3T1R PMs with simple forward kinematics and dynamics solutions is still not completed yet. Coupling degree reduction of a PM can directly reduce its complexity of forward kinematics and dynamics. By using coupling-reducing methods proposed by authors, five original 3T1R PMs with coupling degree 2 are analyzed, which lead to ten novel 3T1R PMs with coupling degree 1 while their basic function, such as DOF and output motion type of the moving platform, stay same. Thus, the forward kinematics and inverse dynamics solutions of the ten 3T1R PMs can be easily obtained by using one dimensional search method or by solving a one-variable polynomial equation.
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