Analysis and Design of Position/Orientation Decoupled Parallel Manipulators

Parallel manipulators (PM) are known for their inherent high mechanical stability, accuracy, load capacity, and stiffness, but their kinematics, statics and dynamics are quite involved and rich of singularities. In the paper a new kinematic structure of PM, the decoupled parallel manipulator (DPM) is proposed, decoupling the end-effector’s position and orientation. Geometric and instantaneous kinematics as well as statics of DPM are studied, and a number of mechanical designs based thereof are derived. The new structure substantially simplifies PM modeling and real-time control, and allows for achieving very fast and accurate motions.

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