Fully-isotropic parallel manipulators with five degrees of freedom

Abstract

The paper presents fully-isotropic parallel manipulators (PMs) with five degrees of freedom T3R2-type. The mobile platform has three independent translations (T3) and two rotations (R2). A method is proposed for structural synthesis of fully-isotropic T3R2-type PMs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T3R2-type PMs presented in this paper is the identity 5times5 matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. As far as we are aware, this paper presents for the first time in the literature solutions of fully-isotropic PMs with five degrees of freedom