Abstract
Based on topological structure characteristics of the parallel mechanisms, the internal relationship between kinematics decoupling and mobility types of mechanisms is revealed, and the basic principle for structural synthesis of topological decoupling mechanisms is put forward. Using this theory, a group of 3 degree-of-freedom (DOF) partial decoupling manipulators could be synthesized, the expected kinematic outputs of which are 1-DOF translation and 2-DOF rotation, and the unexpected outputs of which are constants. The kinematic analysis demonstrates that these manipulators can be easily controlled in real time and their paths planning can be also reached due to the partial decoupling property for kinematics.
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