Kinematics analysis of a novel parallel manipulator

A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditions of the inverse and the direct Jacobian matrices and the screw theory, fully-isotropic design is developed in virtue of the condition number of the Jacobian being identically equal to 1. Finally, a potential application of the mechanism is briefly described.