Type Synthesis of 2-DOF Rotational Parallel Mechanisms with Passive Limbs

10.6567/IFToMM.14TH.WC.OS3.031

Wentao Guo；Weizhong Guo；Feng Gao

2-DOF rotation ； parallel mechanism ； type synthesis ； passive limb ； constraint distribution

Proceedings of the 14th IFToMM World Congress

14th-1（2015 / 10 / 23）

687 - 694

英文

The 2-DOF rotational (2R) parallel mechanisms (PM) with passive limbs (PLs) are a kind of parallel robot that has big potential in engineering applications where PLs may provide constraints, bear full or partial weights or payloads, and even decrease the required actuating force of active limbs (ALs). Currently, there is still no systematic study on the utilization of PLs. The available parallel mechanisms having one passive limb were developed mainly based on intuition and ingenuity. In this paper 2R parallel mechanisms with passive limbs are investigated in terms of type synthesis. Based on the modified distribution of wrench system among the active limbs and passive limbs, an effective, efficient, and full-scale criterion is developed for the synthesis of all kinds of 2R PMs with one or more passive limbs. All 14 categories of 2R PMs with PLs are synthesized and demonstrated through kinematic diagrams.