文档介绍：heory43(2008)1087–1098ate/,UniversityofCagliari,Piazzad’Armi,09123Cagliari,ItalyReceived12February2007;receivedinrevisedform24September2007;accepted8October2007Availableonline26November2007AbstractThepaperdescribesthekinematicsanalysisofanewtranslationalparallelmanipulator(TPM).:.Ó:Parallelmechanism;Translationalparallelmanipulator;Singularities;,plexityofthekinematicanddynamicrelationshipsofthesmallermobilitymanipulatorsaredrasticallyreduced,,manipulatorswiththreedegrees-of-freedom(dof),whethertheybeforpurerotations(sphericalparallelmanipulators,)forpuretranslations(translationalparallelmanipulators,)orelseformixedtypesofmotion(MPMs),havedrawntheresearchers’,,proposedbyClavel[1].SomeofthearchitecturesproposedinthepastresultfromthesynthesisworkcarriedoutbyHerve´andSparacino[2–5].Mechanismsinthisclasshave4--dofeachandwereextensivelystudiedbyCarricato–Parenti-Castelli[6,7]andFrisolietal.[8].TheTPMsofathirdfamilyhavea