The current article presents a new family of T2R1-type spatial parallel mechanisms (PMs) with decoupled and unlimited rotation of the moving platform in planar motion. The moving platform performs two independent translations (T2) and one independent unlimited rotation (R1) whose axis is perpendicular to the plane of translations. A method is proposed for structural synthesis of T2R1-type PMs based on the theory of linear transformations. The moving platform has unlimited rotational capabilities and is decoupled with respect to translational motion. To the best of the author's knowledge, this article presents for the first time solutions of T2R1-type spatial PMs with decoupled and unlimited rotation of the moving platform in planar motion.
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