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We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation (TPMFAO). In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures are listed as the result. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement are discussed.

We present a kinematic design of a translatlonaI parallel manipulat 〔 ，r with 丘nc adjustmcllt capability of plutf ' orm urientation ． In order to clarify possible kinematicstructures for 正 t， structural synthesis of fUlly decoupled mechanism and partially decoupl 巳 d mechani3m both with six degrees of freedom (dof) was carried out ． AII possib！ e kinematic structures were obtained ． Of these ， one partially decoupled mecha 囗 isIn was selected and a kinematic d 巳sign (， f a prototype manipulator Lvas d〔me ． Its charactcristics ill terI 皿 s of workspace ， singularity ， oricntation adjustment capabi 】 ity、 and coupling characteristics between translational and rotational displacement were discussed with experimental results regarding fine a 〔 加 stmellt capab ［ lity of pla し form orientation

We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation. In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures were obtained. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement were discussed with experimental results regarding fine adjustment capability of platform orientation.

No abstract