Structure Design and Kinematic Analysis of a Partially-Decoupled 3T1R Parallel Manipulator

摘要

A partially-decoupled three-translation and one-rotation (3T1R) parallel manipulator is proposed and analyzed in this paper. The new mechanism features with a symmetric layout and simple kinematic structure for generation of 3T1R motion in pick-and-place operations. The kinematics of this mechanism, including forward and inverse position problems, are analyzed. The closed-form solution of direct kinematics is obtained and verified by inverse kinematics. Moreover, the partially-decoupled performance can be found through the forward kinematics. The proposed mechanism is mainly composed of revolute joints and presents better performance. Hence, more potential applications of this manipulator can be expected.