Topological Analysis of a Partially Decoupled 3T1R Parallel Mechanism with Zero Coupling Degree

  • Huiping ShenEmail author
  • Guanglei Wu
  • Zhengxiao Xu
  • Jiaming Deng
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The three-translation and one-rotation (3T1R) parallel manipulator (PM) with zero coupling (κ=0) and motion decoupling can have the advantages in terms of simple kinematics, dynamics modeling analysis, and control. In this paper, a novel 3T1R PM is proposed, according to the topological design theory of PM based on the POC equations, of which redundant actuation limb is adopted to avoiding the mechanism singularities. Sequentially, the topological structure of POC is analyzed, including the POC set, degree of freedom, motion decoupling and coupling degree analysis, which shows that the coupling degree of the mechanism is equal to zero and has partial motion decoupling. The reported work presents a new design to the 3T1R robot family together with the topological analysis procedure.


Parallel mechanism 3T1R Motion decoupling Coupling degree Redundant actuation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Huiping Shen
    • 1
    Email author
  • Guanglei Wu
    • 2
  • Zhengxiao Xu
    • 1
  • Jiaming Deng
    • 1
  1. 1.Changzhou UniversityChangzhou, JiangsuChina
  2. 2.Dalian University of TechnologyDalianChina

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