Topological Design of Weakly-Coupled 3-Translation Parallel Robots Based on Hybrid-Chain Limbs

摘要

This paper presented a novel and systematic design method for topological structure of weakly-coupled parallel robots with three pure translations by using hybrid chains. First, the general design steps for hybrid-chain limb (HCL) were presented, with which many practical hybrid-chain limbs containing three translations used for connecting the moving platform with the fixed platform of parallel robots were derived by using HCL. Then, based on these limb structures, eight promising weakly-coupled parallel structures three pure translations were originally synthesized. Meanwhile, many generic structures could be formulated by changing the type of driving joints, the relative position of driving joints and the local sub-structures of limbs. Finally, the eight novel parallel robots were classified based on structural stability and symmetry in topology, complexity of kinematics and dynamics, and the ability to be manufactured and assembled.