Partially Decoupled Parallel Manipulators Based on Multiple Platforms

The nonlinearity of the position equations of most parallel manipulators burdens the control and is a serious drawback for industrial applications. In this paper the authors have developed a 5 degrees of freedom parallel manipulator 3T2R whose position equations are explicit and partially decoupled. In order to get that, several platforms, partially actuated by limbs joined to the base, have been articulated together. This concept of a parallel assembly of parallel manipulators produces simple position equations, partially decoupled, high values of tilting angles, and a good stiffness.