Planar parallel robots with uncoupled motions

Abstract

Planar parallel robotic manipulator (PPM) withuncoupled motionswith various degrees of overconstraint may be obtained by using simple and/or complex limbs. In these solutions, each operational velocity given by Eq. (1.18) depends on just one actuated joint velocity: ${\it v}_1={\it v}_1(\dot{q}_1), {\it v}_2={\it v}_2(\dot{q}_2)$and$\omega_\delta=\omega_\delta(\dot{q}_3)$The Jacobian matrix in Eq. (1.18) is a diagonal matrix.