Kinematic analysis of a novel spatial uncoupled parallel manipulator

A novel spatial parallel manipulator with two-translational and one-rotational degrees of freedom is represented in this paper. The mobility of the mechanism is analyzed and computed by use of the screw theory. The direct and the inverse analytical position solutions are derived and the veloctiy analysis are addressed. Since the Jacobian matrix, mapping the input velocity vector of the actutated joints to the output vector of the moving platform, is a diagonal matrix, the manipulator is an uncoupled one. There exists one-to-one corresponding controlling relationship between one of the input velocities and one of the output velocities. Therefore, the path planning and controlling design of the manipulator will be very sinple. In addition, the singularities of the manipulator are discussed based on the Jacobian matrix method.