Planar3RPR parallel mechanism is a typical precision micromanipulation mechanism which can realize two translation and one rotation.According to the POC equation,the coupling degree of the mechanism is 1,and the input and output of the mechanism do not have motion decoupling.Based on this,taking the motion decoupling as the optimization objective,the topological structure of the mechanism is optimized by the principle of structural decoupling,and a planar precise micromanipulation mechanism with zero coupling degree(k=0)is designed.The feasibility of decoupling is verified by using the POC equ...