A Novel 6 dof Parallel Robot With Decoupled Translation and Rotation

Abstract

This paper describes a new parallel robot with 6 degree of freedom (dof) and decoupled kinematics. The robot is composed of six legs with actuated prismatic joints; three legs control the spatial position of the center of the mobile platform, while the remaining legs are used to define the end effector orientation. The decouple kinemat- ics is obtained by using a new approach for a triple spher- ical joint in conjunction with a 3-UPS parallel robot. In this work, the forward and inverse kinematic analysis of the mechanism is the first question answered, then, the veloc- ity analysis is performed via screw theory, and, finally, a singularity and workspace analysis is performed using the previously obtained screw-based Jacobian.