Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator

By Lung-Wen Tsai, Sameer A. Joshi. 2000

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Variable motion/force transmissibility of a metamorphic parallel mechanism with reconfigurable 3T and 3R motion (2015, background): “Pure translational parallel mechanisms [7,8] have straight forward kinematics solutions and some commercialized ones have been widely used for fast packaging and haptics [9].”
General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators (2002, methodology): “Other architectures of the 3-DoF translational parallel mechanisms are also discussed, such as the 3-RRC parallel mechanism (Tsai 1997) and the 3-UPU parallel mechanism (Di Gregorio and Parenti-Castelli 1999; Tsai 1999, 2000).”
Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide (2003, unknown): “ mechanisms, the mobile platform is connected to the base by three extensible limbs with a special arrangement of the universal joints that restrains completely the orientation of the mobile platform [18], [19]. The PKM of the second family have ﬁxed length struts with moveable foot points gliding o”