This paper presents a new family of maximally regular T2R1-type spatial parallel manipulators (PMs) with three degrees of freedom. The mobile platform performs two independent translations (T2) and one independent rotation (R1) whose axis lies in the plane of translations. This family is called spatial T2R1-type to distinguish it from the planar T2R1-type PMs in which the rotation axis is perpendicular to the plane of translation. A method is proposed for structural synthesis of maximally regular T2R1-type spatial 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 maximally regular T2R1-type PMs presented in this paper is the 3×3 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. Moreover, the moving platform has unlimited rotational capabilities. To the best knowledge of the author, this paper presents for the first time solutions of maximally regular T2R1-type PMs with unlimited rotation of the moving platform.
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