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According to the topological design theory and method of parallel mechanism(PM) based on position and orientation characteristic (POC) equations, thispaper studied a 3-DOF translational PM that has three advantages, i.e., (i) itconsists of three fixed actuated prismatic joints, (ii) the PM has analyticsolutions to the direct and inverse kinematic problems, and (iii) the PM is ofpartial motion decoupling property. Firstly, the main topologicalcharacteristics, such as the POC, degree of freedom and coupling degree werecalculated for kinematic modeling. Thanks to these properties, the direct andinverse kinematic problems can be readily solved. Further, the conditions ofthe singular configurations of the PM were analyzed which corresponds to itspartial motion decoupling property.

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics