Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation

“…We can find many studies [12][13][14][15][16][17][18][19] on fully and partially decoupled parallel manipulators and mechanisms. Structural synthesis of partially decoupled parallel mechanism with six connecting chains has been done [18].…”

“…Structural synthesis of partially decoupled parallel mechanism with six connecting chains has been done [18]. A procedure of structural synthesis of fully decoupled parallel manipulator, in which three connecting chains are used and active joints are located at only the first and second joints, has been presented and a kinematic design of a fully decoupled manipulator has been discussed [19].…”

Designing a Novel Three-Degree-of-Freedom Parallel Robot Based on Workspace

“…Later, Stewart designed the Stewart platform for flight simulation and analysed the kinematics of this platform [3]. Hunt termed a class of mechanisms, including the Stewart platform, as parallel manipulators [4].Takeda et al [5] present a 6-DOF parallel robot, the main advantage being that the output link's position and orientation are decoupled, as well as the spherical parallel mechanisms [6,7]. Since then, a large number of parallel manipulators have been built and several distinctive designs and analytical approaches have been introduced [8,9].…”

“…We design a novel 3-DOF parallel robot with three limbs (TLPR). This paper presents an idea to distinguish other de-coupled manipulators [5,29] that employs only passive revolute joints to achieve translational motion of the moving platform. This will significantly simplify kinematic analysis and ease of application.…”

DeLiA: a New Family of Redundant Robot Manipulators

“…The decoupled motion can be achieved by introducing geometric conditions, e.g. Wohlhart (1994) studied a Gough-Stewart platform in which three of the six limbs share a common spherical joint over the moving platform, other topologies with uncoupled rotations and translations were investigated by Innocenti & Parenti-Castelli (1991), Zabalza et al, (2002), Yang et al, (2004), Takeda (2005) and so on. Despite the indisputable recent valuable advances in this subject, the development of decoupled parallel manipulators with simplified architectures preserving the well-known benefits of parallel manipulators such as higher stiffness and payload/capacity is a rather complicated task.…”