Abstract
Abstract This paper presents a new family of T2R1 -type parallel manipulators with bifurcated planar-spatial motion of the moving platform. In each branch, the moving platform has two independent translations ( T ) and one rotation ( R ) driven by three actuators mounted on the fixed base or on a moving link. The rotation axis is perpendicular to the plane of translations or parallel to this plane. In the first case, the moving platform has a planar motion, and in the second case, a spatial motion. The bifurcation between planar and spatial motion occurs in a constraint singularity in which the connectivity between the moving and fixed platforms increases instantaneously with no change in limb connectivity. Overconstrained/isostatic parallel manipulators with decoupled/uncoupled motions and maximally regular solutions with bifurcated planar-spatial motion of the moving platform are presented for the first time.
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