Parallel Mechanisms with Group Kinematic Decoupling Ensured by Multiloop Power Transmission in Kinematic Chains

Parallel manipulation mechanisms are multiloop systems in which the parallel arrangement of the kinematic chains allows for the load capacity to be increased, the size and weight of every component to be reduced, and the movable links to be relieved of the gravity force of the actuators by locating them on a fixed base. In this article, the synthesis of a new parallel mechanism with an increased number of parallel loops for transmitting the power from the actuators to the output link is considered. A workspace has been constructed for the mock-up of the mechanism developed equipped with actuators of the translational and rotational movements of the output link. Dynamic analysis of the parallel mechanism with three kinematic chains has been performed considering the weights of the intermediate links.