In view of the real-time control problem caused by the strong coupling of input/output of the parallel mechanism. a three translation parallel mechanism with zero coupling degree is proposed according to the topological design theory and method of parallel mechanism of orientation feature position and orientation characteristic(POC) equation. The mechanism is composed of two CPR and o... https://www.roneverhart.com/Franny-s-Feet-Under-The-Sea-Bilingual/