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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...
A novel translational parallel manipulator with three identical legs is presented. The mobility and the selection of the actuated joints of the manipulator are addressed based on the screw theory. The kinematic problems, singularity and dexterity of the mechanism are discussed according to the different actuation methods. When the rotary actuation method is adopted, the Jacobian matrix is similar...
A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditions of the inverse and the direct Jacobian matrices and the screw theory, fully-isotropic design is...
Based on the single-opened-chain (SOC) unit theory, a new parallel mechanism with two translational and one rotational (2T1R) degrees of freedom is put forward. Both the forward and the inverse analytical solutions of the moving platform's positions are derived. The virtual prototype model of the mechanism is established by use of the ADAMS software. According to the simulation of the virtual prototype,...
A new translational parallel manipulator with fully-symmetrical topological structure is presented in this paper. There is a planar parallelogram in each limb, which contributes to improve the rigidity of the manipulator. Firstly, the degree of freedom of the mechanism is analyzed based on the units of single-opened-chain. Secondly, both the forward and the inverse position problems of the mechanism...
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