Kinematics and Performances Analysis of the 3-CRC Translational Parallel Manipulator

A novel translational parallel manipulator with three identical legs is presented. The mobility and the selection of the actuated joints of the manipulator are addressed based on the screw theory. The kinematic problems, singularity and dexterity of the mechanism are discussed according to the different actuation methods. When the rotary actuation method is adopted, the Jacobian matrix is similar to a 3 times 3 diagonal matrix, so the manipulator is an uncoupled one. While the linear actuation method is used, the Jacobian matrix is an identity 3 times 3 matrix and the manipulator is free-singularity fully-isotropic throughout its entire workspace.