Novel Planar Parallel Manipulator Using Geared Slider-Crank with Linear Actuation as Connection Kinematic Chain

摘要

The paper deals with a second version of kinematic chain of the geared linkages with linear actuator using a slider crank base mechanism. This structure is recommended because geared linkage with linear actuation allows a large rotation angle with approximately linear transmission function in a large range and proper transmission angle. These characteristics and the direct actuation of the closest element to the mobile platform ensure the avoiding of the first order singularities.