Hemisphere, a fully decoupled parallel 2-DOF spherical mechanism
ROCOM'07 Proceedings of the 7th WSEAS International Conference on Robotics, Control & Manufacturing Technology
Structural shakiness of nonoverconstrained translational parallel mechanisms with identical limbs
IEEE Transactions on Robotics
Parallel mechanisms with bifurcation of Schoenflies motion
IEEE Transactions on Robotics
1T2R parallel mechanisms without parasitic motion
IEEE Transactions on Robotics
The kinematic design of spatial, hybrid closed chains including planar parallelograms
Robotics and Computer-Integrated Manufacturing
A novel parallel 2-DOF spherical mechanism with one-to-one input-output mapping
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
State classification for humanoid robots
Applied Bionics and Biomechanics
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Motion coupling is one of the typical characters of parallel robots. This makes it complicated to control the parallel robots. Therefore, the design of parallel mechanisms with decoupled motions is an important and challenging issue in the parallel robotic field. However, research in this field, including the definition and type synthesis theory, is weak or lacking. In this paper, the reducible correlation between the input and the output of 3-DOF translational mechanisms with decoupled motions is investigated and the definition of this topic is presented. A new parameter named Gf coordinate is propsed for the synthesis of 3-DOF reducible translational mechanisms. The type synthesis theory for this kind of mechanisms is obtained and some reducible mechanisms are synthesized.