Topology design and kinematic analysis of 2-DOF single-loop two-translation spatial parallel mechanism
KONG Xiangchao
SHEN Huiping
DING Wenqin
LI Tao
Abstract：[Objective]Based on the design theory and method of parallel mechanism using position and orientation characteristics(POC)equations,a class of two-degree-of-freedom two-translation(2T)single-loop spatial parallel mechanisms with one moving pair and seven rotating pairs was designed.[Methods]Firstly,the topological characteristics of the mechanism were analyzed,and the degree-of-freedom(DOF)was calculated.Secondly,utilizing the principle of kinematic modeling based on topological characteristics,closed position positive solutions as well as symbolic position inverse solutions were derived.Numerical examples were provided to validate these solutions for both position positivity and inversion.Finally,workspaces analysis and singularity analysis were performed for all four mechanisms.[Results]The results show that the workspaces of mechanism 1 and mechanism 3 are symmetric about Y-axis and Z-axis,which are suitable for the sorting,adjustment and transfer operation of products in two different positions in manufacturing industry.The work can provide a basis for the structure design,optimization and dynamic research of the mechanisms.
Keywords：Position and orientation characteristic setParallel mechanismTwo-translationPosition analysisClosed-form solution
Publication Date：2026-04-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 41-48 )