文档介绍：Mechanism and Machine Theory 44 (2009) 912–922
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Kinematic design of a family of 6-DOF partially
decoupled parallel manipulators
Yan Jin a,*, I-Ming Chen b, Guilin Yang c
a School of Mechanical and Aerospace Engineering, Queen’s University Belfast, Belfast BT9 5AG, UK
b School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
c Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore 638075, Singapore
article info abstract
Article history: Parallel manipulators (PMs) with 6-DOF decoupled motion can simplify the manipulator
Received 2 June 2007 kinematics and thus facilitate its motion planning and control. This paper studies the kine-
Received in revised form 19 June 2008 matic design of a family of partially decoupled parallel manipulators (DPMs) with 3-limb
Accepted 21 June 2008
symmetrical structure, in which 3-DOF spatial posed of a vertical translation
Available online 8 August 2008
and two horizontal rotations can be independently controlled. The concept of group decou-
pling (GD) is introduced for classification and synthesis of decoupled motion PMs. Type
Keywords:
synthesis of this manipulator family is carried out systematically based on GD and wrench
Kinematic design
system analysis. As a result, six DPM architectures, five of which are new, are obtained
Partially decoupled
Parallel manipulator from this exercise. Instantaneous kinematics shows that the order of the Jacobian matrices
of the newly found manipulator architectures can be reduced from six to three. The reduc-
tion of Jacobian order for the decoupled motion PMs facilitates analysis of manipulator sin-
gularity, displacement and statics. Hence, the approach can be utilized for decoupled PMs
in other decoupled motion groups.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
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