A novel five-degrees-of-freedom decoupled robot

摘要

SUMMARY In this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.