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1、25TypeDesignofDecoupledParallelManipulatorswithLowerMobilityWeiminLiSchoolofMechanicalEngineering,HebeiUniversityofTechnologyP.R.China1.IntroductionAtypicalparallelmechanismconsistsofamovingplatform,afixedbase,andseveralkinematicalchains(alsocalledthelegsorlimbs)whic
2、hconnectthemovingplatformtoitsbase.Onlysomekinematicalpairsareactuated,whosenumberusuallyequalstothenumberofdegreesoffreedom(dofs)thattheplatformpossesseswithrespecttothebase.Frequently,thenumberoflegsequalstothatofdofs.Thismakesitpossibletoactuateonlyonepairperleg,a
3、llowingallmotorstobemountedclosetothebase.Suchmechanismsshowdesirablecharacteristics,suchaslargepayloadandweightratio,largestiffness,lowinertia,andhighdynamicperformance.However,comparedwithserialmanipulators,thedisadvantagesincludelowerdexterity,smallerworkspace,sin
4、gularity,andmorenoticeable,coupledgeometry,bywhichitisverydifficulttodeterminetheinitialvalueofactuatorswhiletheendeffectorstandsatitsoriginalposition.Inanengineeringpointofview,itisalwaysimportanttodevelopasimpleandefficientoriginalpositioncalibrationmethodtodetermi
5、neinitialvaluesofallactuators.Thiscalibrationmethodusuallybecomesoneofthekeytechniquesthatatypeofmechanismcanbesimplyandsuccessfullyusedtotheprecisionapplications.Accordingly,fewhavebeenreportedthattheparallelmanipulatorsbeingappliedtohighprecisionsituationsexceptmic
6、ro-movementones.Thestudyofmovementdecouplingforparallelmanipulatorsshowsanopportunitytosimplytheoriginalpositioncalibrationandtoimprovetheprecisionofparallelmanipulatorsinahandyway.Oneofthemostimportantthingsinthestudyofmovementdecouplingofparallelmanipulatorsishowto
7、designanewtypewithdecoupledgeometry.Decoupledparallelmanipulatorswithlowermobility(LM-DPMs)areparallelmechanismswithlessthansixdofsandwithdecoupledgeometry.Thistypeofmanipulatorshasattractedmoreandmoreattentionofacademicresearchersinrecentyears.Tillnow,itisdifficultt
8、odesignadecoupledparallelmanipulatorwhichhastranslationalandrotationalmovementsimultaneously(Zhangetal.,2006a,2006b,2006c).Neverthe
