In this study, we analyze the influence of passive joint viscous friction (PJVF) on modal space decoupling for a class of symmetric spatial parallel mechanisms (SSPM). The Jacobian matrix relating the platform movements to each passive joint velocity is first gained by vector analysis and the passive joint damping matrix is then derived by applying the Kane method. Next, an analytic formula index measuring the degree of coupling effects between the damping terms in the modal coordinates is proposed using classical modal analysis of dynamic equations in task space. Based on the index, a new optimal design method is found which establishes the kinematics parameters for minimizing the coupling degree of damping and achieves optimal fault tolerance for modal space decoupling when all struts have identical damping and stiffness coefficients in their axial directions. To illustrate the effectiveness of the theory, the new method was used to redesign two configurations of a specific manipulator.
