Abstract

A novel three degree-of-freedom(DOF) fully-decoupled parallel mechanism(PM) with one-translational and two-rotational (1T2R) DOF is presented. First, the calculation of the DOF and the input selection are performed. Next, the direct and the inverse kinematic problems are analyzed. Finally, singularity conditions are discussed systematically based on the the direct and the inverse Jacobian matrices. The motion of the mechanism is fully decoupled for the Jacobian matrix being a triangular matrix. Thus, it is simpler in aspects of control and trajectory planning of the mechanism.

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