Fully-isotropic T3R2-type parallel robotic manipulators

The paper presents a special family of fully-isotropic T3R2-type parallel robotic manipulators (PMs) with five degrees of freedom called Isogflde5-T3R2-D. The mobile platform has three independent translations (T3) and two rotations (R2). A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T3R2-type PMs presented in this paper is the 5x5 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. A method is proposed for structural synthesis of fully-isotropic T3R2-type PMs based on the theory of linear transformations. As far as we are aware, the solutions of Isoglide5-T3R2-D family are presented for the first time in the literature.