Novel mechanism for de-coupled 3 DOF planar parallel manipulator and its analysis

To adapt the requirement for positions change of large format photoelectric product detection and large workpiece operation(cutting,welding and spraying),a new mechanism of planar de-coupled parallel manipulator that is simple in structure,whose three sliders were driven on three parallel rails,and allows large work space was presented in this paper,its kinematics positive and reverse solution analytical formulas was deducted.The working spaces of the end actuator were calculated when it is in condition of fixed positions and fixed orientations,a three dimension virtual prototype model was established,having laid a foundation for physical prototype development,real time control and industrial application.