PPR-PMs (parallel manipulators) are the parallel counterparts of the 3-DOF PPR serial robots, which are composed of two P (prismatic) joints and one R (revolute) joint. For a PPR-PM, the moving platform can rotate arbitrarily about an axis undergoing a planar translation. This paper deals with the type synthesis of 3-DOF PPR-PMs. At first, virtual chains are introduced to represent the motion patterns of 3-DOF motions and relevant results from screw theory are recalled. A method is then proposed for the type synthesis of 3-DOF PPR-PMs. Using the proposed approach, the type synthesis of 3-DOF PPR-PMs is performed in three steps, namely, the type synthesis of legs for PPR-PKCs (parallel kinematic chains), the type synthesis of PPR-PKCs, and the selection of actuated joints of PPR-PMs. The three steps are dealt with in detail consequently. The characteristics of the proposed approach is that the type synthesis of legs for PPR-PKCs is reduced to the type synthesis of 3-DOF overconstrained single-loop kinematic chains and thus easy to perform. In addition to all the 3-DOF PPR-PKCs and 3-DOF PPR-PMs proposed in the literature, a number of new 3-DOF PPR-PKCs and 3-DOF PPR-PMs are identified. It is also found that there are no PPR-PMs with identical types of legs.
- Design Engineering Division and Computers and Information in Engineering Division
Type Synthesis of 3-DOF PPR Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain
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Kong, X, & Gosselin, CM. "Type Synthesis of 3-DOF PPR Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 1251-1260. ASME. https://doi.org/10.1115/DETC2004-57472
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