Design of decoupled parallel manipulators by means of the theory of screws

This paper focuses on a study of the decoupling of parallel manipulators. Decoupled parallel manipulators with three parallel kinematic chains are considered. The translation kinematic pairs are designed as planar four-bar parallelograms. The synthesis of these mechanisms is carried out by means of screw groups. This approach allows avoiding completed equations by synthesis and singularity analysis of these mechanisms.