Synthesis of 2T1R Decoupled Parallel Manipulators
For the general parallel mechanisms(PMS), since the coupling between kinematic chains, the nonlinear relation between the input and output is presented, which have led to difficulty in the trajectory planning and precision control. Design of motion decoupled parallel mechanisms(DPMS) has become a good new topic in this area and has captured researcher's attention. In this work, the approach to a synthesis of three degree-of-freedom(3-DOF) DPMS is considered based on screw theory and motion synthesis ideas. Criterions for type synthesis of the branches for DPMS is established according to the twist screw system of the limbs, which assures the decoupling in each limb. Then a six-step procedure is presented for the type synthesis of 2T1R decoupled mechanisms.
W. J. Lu et al., "Synthesis of 2T1R Decoupled Parallel Manipulators", Advanced Materials Research, Vols. 308-310, pp. 2025-2030, 2011