A SYNTHESIS APPROACH FOR A FAMILY OF NOVEL 3-DOFTRANSLATION PARALLEL MANIPULATORS AVOIDED PLATFORMSINGULARITY

摘要

In this paper, a systematic approach, based on the theory of reciprocal screws, is presented for structuresynthesis of 3-DOF translation parallel manipulators avoided platform singularities. By given a system of specialwrenches of constraints, the corresponding reciprocal basis screws are determined according to this method. Throughinvestigate the property of linear combination of these basis screws. Feasible limbs that can be used for construction oftranslation platform avoided singularities are enumerated according to the type of constraint and the number of jointsmaking up the limbs. Further, geometrical conditions for parallel manipulators to possess finite translation motionavoided platform singularities are presented. 2 machines that satisfied design requirements are sketched as examples.