Type Synthesis of a Fully Decoupled Parallel Wrist Manipulator

In this paper, we propose a fully decoupled Three Degree-of-Freedom (DOF) parallel wrist. The theory for type synthesis of fully decoupled parallel mechanism is concluded by reciprocal screw theory, and some symmetrical and asymmetrical 3-DOF parallel wrist is generated by the method. Since the Jacobian matrix of parallel wrist manipulator derived from the kinematics is constant, the mechanism is singularity-free and isotropic.