The kinematics decoupling for parallel manipulators is studied in this paper. Based on the topological structure characteristics of parallel mechanisms, the internal relationship between kinematics decoupling and basic kinematics chains is revealed, and the basic principle for structural synthesis of topologically decoupled mechanisms is put forward. Using this theory, a group of 3 degree-of-freedom (DOF) partially decoupled manipulators are synthesized. The expected kinematic outputs of these manipulators are 1-DOF translation and 2-DOF rotation, and motions along or about undesired directions do not exist. The kinematics analysis of a newly synthesized manipulator is discussed and the results indicate that the decoupling property of these architectures makes possible reaching real time control and path planning of parallel manipulators.
Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received November 2001; revised July 2003. Associate Editor: M. Raghavan.
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Jin, Q., and Yang, T. (May 5, 2004). "Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators ." ASME. J. Mech. Des. March 2004; 126(2): 301–306. https://doi.org/10.1115/1.1666887
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