Abstract
The parallel mechanisms (PMs) with configurable platforms have the advantages of flexibility, high speed, and extra operability over PMs with common platforms. This paper proposes a systematic approach for synthesizing three-degrees-of-freedom (3-DOF) translational parallel mechanisms with configurable platforms of one translation DOF (TPMs-T) based on the finite screw. The motion relationship between the configurable platform and limbs is discussed to achieve the motion requirement of the TPMs-T limbs. The equivalence principle of kinematic joints is further pinpointed, and a series of lower mobility limbs have been developed. At last, the geometric relationship of assembly conditions is derived which can contribute to quickly solving the intersection of limb motions, a series of TPMs-T are constructed to verify the assembly conditions, and the fully controlled condition is discussed.
Graphical Abstract Figure
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