This paper presents a simple and systematic modular approach for kinematic analysis of complicated Parallel Kinematic Manipulators (in short, PKMs) which coupled degrees are more than 2. (1) Single open chains (in short, SOCs) may be regarded as the basic modules of a PKM. Any PKM can always be decomposed automatically into a set of ordered SOCs, and these SOCs can also be used to recognize the basic kinematic chains contained in it. (2) The kinematic analysis algorithms and the compatibility conditions of the SOC modules are offered. (3) Directly applying the above SOC kinematic modules, the kinematic equations of a PKM can be automatically established. (4) In order to solve kinematic equations of complicated parallel manipulators which coupled degrees are more than 2, a new searching algorithm which requires no initial guess has been presented. The procedural approach is demonstrated in parallel manipulators.
Based on the control decoupled principle and approach of Position and Orientation Characteristic (in short, POC) set, a novel decoupled parallel robot with 3-Translation and 2-Rotation (in short, 3T2R) outputs has been presented in the paper. And the topological structure of this new mechanism is fully decoupled, which have the advantages of easily control, simple kinematic analysis, and so on. Then the structure and displacement analysis of this novel parallel robot have been accomplished. The research provides theoretical basis for design and practical applicability of this novel parallel robot.
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