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Investigation of a novel 2R1T parallel mechanism and construction of its variants

Published online by Cambridge University Press:  17 May 2021

Jingfang Liu ,
Xiangmeng Fan Open the ORCID record for Xiangmeng Fan [Opens in a new window]  and
Huafeng Ding
Jingfang Liu
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
Xiangmeng Fan
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China
Huafeng Ding*
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China
*
*Corresponding author. Email: dhf@ysu.edu.cn
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Abstract

A 3-RRPRR variable spherical symmetrical parallel mechanism (PM) with arc-shaped sliding pairs and no parasitic motion is presented, exhibiting two rotational and one translational (2R1T) degrees of freedom. Three limbs are symmetrically distributed between the base and end-effector; upper and lower parts of each limb are mirror symmetrical around the middle. The geometry, mobility, forward/inverse kinematics, workspace, and parasitic motion of the mechanism are analyzed, showing its ability to achieve large rotations around a continuous rotation axis. Finally, a structure synthesis strategy for variable spherical symmetrical PM is proposed, and several limb types meeting the conditions are obtained.

Keywords

parallel mechanism2R1Tworkspaceparasitic motiontype construction
Type
Article
Information
Robotica , Volume 39 , Issue 10 , October 2021 , pp. 1834 - 1848
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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