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In this paper, we propose a fully decoupled Three Degree-of-Freedom (DOF) parallel wrist. The theory for type synthesis of fully decoupled parallel mechanism is concluded by reciprocal screw theory, and some symmetrical and asymmetrical 3-DOF parallel wrist is generated by the method. Since the Jacobian matrix of parallel wrist manipulator derived from the kinematics is constant, the mechanism is...
A family of spherical parallel mechanisms which have fully decoupled motions is presented in this paper. The condition required for synthesizing the fully decoupled parallel mechanism is derived from the screw formulation of Jacobian matrix. According to this condition, several novel decoupled spherical parallel mechanisms are obtained. The decoupled motions are validated by the simulation of the...
This paper presents a novel simple method, IMGA, to solve the instantaneous motion problem of parallel mechanism. Based on the geometric regularity between constraints and motion of rigid body, IMGA method can be used to judge all the feasible instantaneous motion of parallel mechanism, and the type synthesis of instantaneous motion-free parallel mechanism. Based on the 3-PRS parallel mechanism, two...
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