A Novel 6 dof Parallel Robot With Decoupled Translation and Rotation

摘要

This paper describes a new parallel robot with 6 degree of freedom (dof) and decoupled kinematics. The robot is composed of six legs with actuated prismatic joints; three legs control the spatial position of the center of the mobile platform, while the remaining legs are used to define the end effector orientation. The decouple kinematics is obtained by using a new approach for a triple spherical joint in conjunction with a 3-UPS parallel robot. In this work, the forward and inverse kinematic analysis of the mechanism is the first question answered, then, the velocity analysis is performed via screw theory, and, finally, a singularity and workspace analysis is performed using the previously obtained screw-based Jacobian.