Structure Synthesis of Four-DOF Parallel Robot Mechanisms

摘要

A systematic method is presented for structure synthesis of three rotational-DOF and one translational-DOFparallel robot mechanisms based on the screw theory. The theory of reciprocal screws is used to analyze the constraintconditions for parallel robots of a given number of DOF. Then limb structures that can be used for constructing threerotational-DOF and one translational-DOF parallel robots are enumerated according to the reciprocity of the motionscrew and constraint forces screw. By using this method, several parallel robot mechanisms are constructed asexamples.