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Symmetrical 2R1T Parallel Mechanism without Parasitic Motion
Journal of Mechanical Engineering
Abstract:A novel 3-UPU symmetrical parallel mechanisms is proposed, whose base and moving platform are always symmetrical about a middle plane. It has two rotational and one translational (2R1T) degrees of freedom (DOFs). The mobility and motion characteristics of this mechanism are studied by using the screw theory. And it has been approved that the moving platform can rotate continuously about a fixed axis or fixed point, which can be chosen freely on the middle plane. Therefore thisdoi:10.3901/jme.2016.03.009 fatcat:nqoobfmbmnhmfcw2u2ynq7ut3i