Type Synthesis of Partially Decoupled 2-DOF Parallel Mechanisms with Two 1T1R Operational Modes

摘要

This paper deals with the type synthesis of partially decoupled 2-DOF parallel mechanisms with two 1T1R (one translation and one rotation) operational modesa novel class of reconfigurable parallel mechanisms which can switch operational modes without disassembly. In the two 1T1R operational modes, the axes of rotation of the moving platform are different. A bi-mode revolute joint is defined to simplify the representation of motion patterns of the moving platform. Using the vitual-chain approach, the type synthesis of partially decoupled 2-DOF 1T1R parallel mechanisms and partially decoupled 2-DOF parallel mechanisms with two 1T1R operational modes is carried out. The proposed mechanisms need one less actuated joint than the existing parallel mechanisms with two 1T1R operational modes. This work provides a solid foundation for developing energy-efficient parallel mechanisms with two 1T1R operational modes.