Design and analysis of 2T1R parallel mechanism with two kinds of translation characteristics
CAI Xiang
GAO Bo
SHI Zhixin
Abstract：[Objective]To address the issue that achieving curved translation in two-translation one-rotation(2T1R)parallel mechanisms requires complex curve-fitting algorithms,a novel mechanism capable of realizing curved translation by leveraging its inherent characteristics was designed.[Methods]Firstly,based on the parallel mechanism design theory of the position and orientation characteristic(POC)set equation,a 2T1R parallel mechanism with a symbolic forward position solution was designed.The topological properties of this mechanism,including its POC set,degree of freedom,and coupling degree,were analyzed.Secondly,following the kinematic modeling principles of topological structures,the symbolic forward and inverse position solution equations of the mechanism were derived,and their correctness was verified through numerical calculations.Finally,the curved translation and straight-line motion characteristics of the mechanism were validated using Matlab software.[Results]Test results demonstrate that the designed mechanism exhibits both straight-line and curved translation capabilities within its workspace,significantly simplifying the complexity of achieving curved translation and reducing the difficulty of control algorithms.
Keywords：Parallel mechanismTopological designBending translationAnalytical solutionCoupling degree
Publication Date：2025-09-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 55-63 )