A novel partially-decoupled translational parallel manipulator with symbolic kinematics, singularity identification and workspace determination

This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using topological design method of mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed lower-mobility joints actuated prismatic joints, together with the investigations three kinematic issues importance. first aspect pertains to geometric modeling TPM in connection its characteristics, such as POC, degree freedom coupling degree, from which symbolic direct solutions are readily obtained. Moreover, decoupled properties input-output motions directly evaluated without Jacobian analysis. Sequentially, upon inverse kinematics, singular configurations identified, wherein surfaces visualized means Gröbner elimination operation. Finally, workspace approach. 3-DOF features less links compared well-known Delta robot, reduces structural complexity. Its kinematics partially-decoupled property will ease path planning dynamic can be used for manufacturing large work pieces.