Table 4 Typical fully decoupled 3T PMs

Decoupled mechanism configuration

(1) 3-P2(RRR)

(2) 3-2(PRRR)

Three translational fully decoupled parallel mechanisms with high stiffness

Decoupled mechanism configuration

(3) 3-P2(RR)P

(4) 3-2(PRRP)

Three translational fully decoupled parallel mechanisms with high stiffness

Decoupled mechanism configuration

(5) 3-2(RRRRR)

(6) 3-2(RRRRR)

Three translational fully decoupled parallel mechanisms with high stiffness

Decoupled mechanism configuration

(7) 3-P2(RRRR)

(8) 3-2(RRRR)P

Three translational fully decoupled parallel mechanisms with high stiffness

Decoupled mechanism configuration

(9) 3-2(RRRRP)

(10) 3-2(RRRRP)

Three translational fully decoupled parallel mechanisms with high stiffness