In particular, special families of fully-isotropic mechanisms are identified. The second part studies both constraint and direct singularities of TPMs. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. In particular, it identifies for the first time special families of fully-isotropic mechanisms. It deals with the general problem of the topological synthesis and classification of TPMs and it investigates both their constraint and direct singularities. The attention of this paper is focused on translational parallel mechanisms (TPMs), that is on parallel mechanisms whose output link (platform) is provided with a pure translational motion with respect to the frame.
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