Based on the units of single-opened-chains, some topological characteristics of rank-degenerated parallel manipulators are revealed, and a systematic and effective new method for structure synthesis of parallel manipulators with 3-dimension translation and 1-dimension rotation is put forward in this paper. As a result, 50 new mechanisms are synthesized and classified. The method proposed in this paper is of universal significance and has been used for the structure synthesis of rank-degenerated parallel manipulators with other kinematics output types.

This content is only available via PDF.
You do not currently have access to this content.