Kinematics and singularity analysis of a novel decoupled translational parallel manipulator

A novel three-degrees-of-freedom fully-decoupled translational parallel manipulator, in which every limb contains a parallelogram, is presented. The analytic equations of the direct and the inverse kinematics are derived. Motion range of the actuated cylindrical joints is discussed. Furthermore, the singular configuration of the parallel manipulator is analyzed systemically according to the singularity of both the direct and the inverse Jacobian matrices. Because Jacobian matrix remains a triangular matrix throughout the entire workspace, the mechanism is a fully-decoupled one. Thus, it is simpler in aspects of controllability and path planning of the mechanism. In addition, the existence of the parallelogram in the limbs improves the manipulator´s stiffness. Therefore, the manipulator has a potential wide range of applications in coordinate measuring machine, virtual machine tool and others.