Topological design of an asymmetric 3-translational parallel mechanism with zero coupling degree and motion decoupling
This work addresses the design of parallel mechanisms for robotics, offering incremental improvements in kinematic analysis and control.
The paper introduced a new asymmetric 3-translational parallel manipulator with zero coupling degree and decoupled motion, enabling direct derivation of kinematic formulas and simplified singularity analysis.
In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on position and orientation characteristics (POC) equations. The main topological characteristics such as POC, degree of freedom and coupling degree are calculated. Then, the analytical formula for the direct and inverse kinematic are directly derived since coupling degree of the PM is zero. The study of singular configurations is simple because of the independence of the kinematic chains.