This paper presented a novel two degree-of-freedom (DOF) fully-decoupled parallel mechanism(PM) with two dimensional rotation. First,based on the DOF feature matrix kinematic type was analyzed, and using single open-chain theory the calculation of the DOF of the mechanism and selection of the actuated pairs were performed. Next, the displacement and velocity of the mechanism were analyzed,and according to the direct and the inverse Jacobian matrices of the manipulator singularity conditions were discussed systematically. At last the motion of the mechanism was fully decoupled for the Jacobian matrix being a triangular matrix,which can simplify control and trajectory planning of the mechanism.
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2010, Vol. 21 
