Abstract: This paper deals with the kinematic optimization of a five degrees-of-freedom (DoFs) spatial parallel mechanism with three kinematic chains. Inspired by the structure of the icosahedron, the base of the discussed mechanism ...

Abstract: A spatial parallel kinematic mechanism (PKM) with five degrees of freedom (DoFs) and three limbs is proposed in this paper. To investigate the characteristics of the proposed mechanism's DoFs, mobility analysis based on a ...