Structure and Kinematics Decoupling Analysis of a Novel 3D Translations Spatial Parallel Robot Mechanism

In this paper, a novel spatial parallel robot mechanism that can carry out three-dimensional translations was proposed. Based on topology structure design theory of robot mechanism, the structure and motion output were analyzed. The DOF and the coupling coefficient were calculated. According to the characteristics of the mechanism, the forward and inverse position models of mechanism were presented by using of the coordinates transformation theory and projection theory of analytic geometry. Depend on the conclusions of the forward solution, the decoupling of the input and output was analyzed. The kinematics decoupling characteristic of the mechanism was simulated and verified by ADAMS software. The research provided theory foundation for future study and industrial application.