IEEE Transactions on Robotics · 2014 · 117 citations · 33 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DesignRobot KinematicsRoboticsKinematic ChainsKinematic ModelingKinematic SynthesisKinematicsManipulator DesignRobot ManipulatorsDesign Of Parallel ManipulatorsGeneratorsParallel Manipulator DesignParallel ManipulatorsParallel MechanismsParallel Robot MechanismsSynthesis Of Parallel MechanismsType Synthesis
The moving platform of an RPR-equivalent parallel mechanism (PM) can undergo a 3-degree-of-freedom (DOF) motion that is the product of a rotation followed by a translation and another rotation. A 5-DOF hybrid parallel manipulator can be developed by adding an x-y gantry or an RR serial mechanism to an RPR-equivalent PM, which is suitable for manipulations requiring high rigidity and accuracy with good dexterity along surfaces of the 3-D space. This paper investigates the type synthesis of the RPR-equivalent PM. First, the RPR motion is briefly discussed. Then, the kinematic bonds of limb chains and their mechanical generators are presented. Structural conditions for constructing an RPR-equivalent PM are presented. Furthermore, the RPR-equivalent PMs are classified into several categories, depending on the DOF of its limb chains. Numerous new architectures of the RPR-equivalent PMs are synthesized.
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