New Family of RPR-Equivalent Parallel Mechanisms:Design and Application

摘要

Parallel mechanisms(PMs)have been used as skeletons or end-effectors in various advanced manufacturing equipment.Compared with their serial counterparts,PMs offer high rigidity,good dynamic response,and large payload capability.Three-degrees-of-freedom(DOFs)parallel mechanisms with two rotational and one translational(2R1T)motion are particularly useful,such as