Kinematics and Dexterity Analysis of a Novel Pure Translational Parallel Manipulator

Abstract

A novel spatial translational parallel manipulator with fully-symmetrical topological structures was presented.A parallelogram was used in each limb of the manipulator.The mobility and its type of the manipulator were analyzed based on screw theory.The forward and the inverse position problems of the mechanism were investigated respectively.The Jacobian matrix,mapping the input velocity vector of the actuated joints into the output velocity vector of the moving platform,was derived.The dexterity of the manipulator was analyzed.There existed one-to-one corresponding relationship between the input and output velocities,so the kinematics of the manipulator was fully decoupling.The mechanism proposed has widely potential applications in virtual parallel machine tool,medical robots.