Fully-isotropic T2R3-type redundantly-actuated parallel robots

The paper presents T2R3-type fully-isotropic redundantly-actuated parallel manipulators (PMs) with five degrees of freedom. The mobile platform has two independent translations (T2) and three independent rotations (R3). A method is proposed for structural synthesis of fully-isotropic redundantly-actuated T2R3-type PMs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T2R3-type PMs presented in this paper is 5 times 5 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. Redundant actuation is used to obtain fully-isotropic solutions. This paper presents for the first time in the literature the use of redundancy to design fully- isotropic T2R3-type PMs.