Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 30, Issue 6, Pages 1333-1343Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2014.2344450
Keywords
Lie group theory; parallel robots; type synthesis
Categories
Funding
- National Natural Science Foundation of China [51135008, 51475431]
- Natural Science Foundation of Zhejiang Province [LZ14E050005]
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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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