Kinematics of a decoupled series-parallel manipulator by means of screw theory

This work reports on the kinematic analyses of a non-redundant spatial robot built with a translational manipulator assembled in series connection with a parallel wrist. The first mechanism is a fully-decoupled, fully-isotropic and singularity-free translational manipulator while the second mechanism is a spherical parallel manipulator equipped with rotational actuators. The parallel wrist is free of revolute joints with concurrent axes. Numerical examples are provided in order to show the application of the method.