Journal
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
Volume 25, Issue 3, Pages 550-558Publisher
ELSEVIER
DOI: 10.1016/j.euromechsol.2005.11.001
Keywords
overconstrained mechanisms; asymmetric parallel-kinematics mechanisms; rotational-translational mechanisms; three-DOFs PKMs; Lie group theory
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The paper introduces four families of three-DOFs translational-rotational Parallel-Kinematics Mechanisms (PKMs) as well as the mobility analysis of such families using Lie group theory. Two of these families are mechanisms with one-rotational two-translational degrees of freedom (DOFs) and each of the other two has one-translational two-rotational DOFs. Four novel mechanisms are presented and discussed as representatives of these four families. Although these mechanisms are asymmetric, the components used to realise them are very similar and, hence, there is no great departure from the favourable modularity of parallel-kinematics mechanisms. (c) 2005 Elsevier SAS. All rights reserved.
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