Research on type synthesis of uncoupled two-translational and one-rotational parallel robot mechanisms
LI Yaoguang
ZHANG Yanbin
PANG Qianchen
ZHAO Junchao
SONG Liming
ZHANG Shuang
Abstract：[Objective]The decoupled parallel robot mechanism is an important research branch in the field of mechanism design.The kinematic decoupling allows for simpler kinematic and dynamic modeling of parallel mechanisms,making the con-trol design easier as well.A type synthesis method for uncoupled parallel robot mechanisms with two translations and one rota-tion(2T1R)was presented.[Methods]Initially,utilizing the driving force screw theory,the kinematic mapping model was estab-lished between the input motion space of actuated joints and the output operation space of the moving platform for the 2T1R par-allel mechanism.Secondly,based on the characteristics that the direct and inverse Jacobian matrices of the decoupled parallel ro-bot mechanism were diagonal matrices,the driving force screws were determined,as well as the types of active and passive mo-tion screws.According to the varying degrees of freedom in each branch,the structural synthesis of individual branches was completed.Finally,in terms of the assembly conditions of each branch,the parallel robot mechanisms with the expected motion characteristics were obtained through connecting the fixed platform with the moving platform by three chains.[Results]The ki-nematics analysis of the novel PPR-RRRRRR-PRRPR mechanism shows that it is an uncoupled 2T1R parallel mechanism with three degrees of freedom,which verifies the correctness of the proposed type synthesis method.
Keywords：Parallel robot mechanismType synthesisUncoupledDriving force screw theory
Publication Date：2025-10-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 22-30 )