Type Synthesis of 3-DOF Parallel Mechanism with both 2R1T and 3R Motion Mode

doi:10.3901/JME.2019.03.053

Abstract

Abstract: The parallel mechanisms with both 2R1T and 3R motion mode are synthesized using the theory of displacement manifold. The characteristic of a typical variable freedom kinematic chain is analyzed. A mechanism having both 2R1T and 3R motion modes is given for an example. The freedom of the mechanism in different motion mode is verified and the transform configuration of the mechanism between different motion modes is verified feasible using screw theory. The results show that the parallel mechanism has two modes:2R1T and 3R. At the general configuration of the two motion modes of the mechanism, this type of mechanism can be controlled by using 2 translational active joints and 1 rotary active joint. The degree of freedom of the mechanism is 4 and the mechanism is in singular configuration when the motion mode of the mechanism transforms. A auxiliary translational active joint is added in the branch 2, which works only when the mechanism motion mode is transformed.

Key words: 2R1T, 3R, motion mode, parallel mechanism

CLC Number:

TH112

LIU Wei, LIU Hongzhao. Type Synthesis of 3-DOF Parallel Mechanism with both 2R1T and 3R Motion Mode[J]. Journal of Mechanical Engineering, 2019, 55(3): 53-63.

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