Type Synthesis of 1T2R 3-DOF Parallel Mechanism

doi:10.3901/JME.2015.17.001

Abstract

Abstract: Type synthesis of 1T2R 3-DOF UP and UPR-SPR equivalent parallel mechanisms is presented. By using virtual chain approach, the geometric conditions of the joints axes of the 4 and 5-DOF branched chains for these parallel mechanisms are investigated on the base of the wrench system of UP and UPR-SPR virtual chain, leading to a lot of new 3-DOF parallel mechanisms with actuation redundancy and/or over constraint. By linking several revolute joints to a kind of telescopic leg, lots of 4 and 5-DOF reconfigurable branched chains are proposed, which can be used to build various 1T2R 3-DOF parallel mechanisms.

Key words: parallel mechanism, reconfigurable branched chains, type synthesis

CLC Number:

TP24

WANG Manxin; HUANG Tian. Type Synthesis of 1T2R 3-DOF Parallel Mechanism[J]. Journal of Mechanical Engineering, 2015, 51(17): 1-7.

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Type Synthesis of 1T2R 3-DOF Parallel Mechanism

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