Kinematic analysis of a fully decoupled translational parallel manipulator

The paper describes the kinematic analysis of a new translational parallel manipulator (TPM). The manipulator consists of a fixed base, with a moving platform connected to the base by three identical legs with PUPR chains. The axes of the actuated motions are orthogonal. This configuration provides a very simplified kinematic analysis with fully decoupled input-output linear equations, absence of translational singularities, isotropy and ease of determining the workspace for the moving platform.