Overconstrained T3-type TPMs with uncoupled motions
T3-type translational parallel robots with uncoupled motions with various degrees of overconstraint may be obtained by using three simple or complex limbs. In these solutions, each operational velocity given by Eq. (1.19) depends, in the general case, on just one actuated joint velocity: v i = v i (q i ), i = 1,2,3. The Jacobian matrix in Eq. (1.19) is a diagonal matrix.
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