Structural synthesis of kinematic structures of 5-dof 3T2R parallel manipulators with prismatic actuators

This paper presents a new systematic method for synthesizing 5-dof 3T2R parallel kinematic structures. In using this method, a set of novel 5-dof 3T2R (3translational, 2rotational), PMs are introduced for the first time in the literature. Lastly, the classification of structures is given with respect to some criteria, i.e.: a) degree of coupling between the actuators and degrees of freedoms; b) easy kinematics and easy control command; c) easy construction (or low cost construction); d) manufacturability.

کلیدواژه ها:

parallel mechanisms ، structure synthesis ، mobility