Study on Kinematics Decoupling for Parallel Manipulator with Perpendicular Structures

Kinematics decoupling characteristics (KDCs) for parallel manipulators simplify the kinematics models, and make them easier in calibration and control. This paper focuses on KDCs for parallel manipulators which are described in detail. The relationship between input and output of a system with KDCs is discussed and the characteristics of its transfer matrix are educed. Then, the kinematics of two parallel manipulators, a 6-PSS parallel micro-manipulator with perpendicular structures (PMMWPS) and a 6-PP⁺S parallel manipulator with perpendicular structures (PMWPS), is analyzed. Also, the kinematics models are obtained. In the course of the analysis, conditional decoupling is defined. The results show that the two proposed PMWPSs have KDCs. The KDCs for PMWPSs would offer a new idea in the area of parallel manipulators