Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, kinematic dynamic models, ease control allow for a variety application prospects. This paper concentrates on derivations 5-DOF hybrid manipulators based synthesized mechanisms. To understand effect constraint motion rigid body clearly, method reciprocal product between wrench screw (constraint) twist (motion) is used relationships are analyzed as well. results extended to limb axes joints. Then, limbs divided into spatial in view their characteristics, some common with listed. After that, type synthesis method, class 2T1R PMs carried out. Meanwhile, typical closed chains same obtained process synthesis. Finally, kinematically redundancy PM 2R1T derived by making changes mechanisms, detailed three ability processing complex surface given. Proved test parts, accomplishment deriving novel robot configurations regard expectant quite valuable practical.