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<p>Type synthesis is an essential building block for addressing the original innovation problems of mechanisms. The current paper presents a new class of 2T1R (two-translational and one-rotational) uncoupled parallel mechanisms (UPMs) with a suitable constraint branch by use of the actuation wrench screw theory. The composition principles of the motions, constraints, and driving forces for UPMs with a suitable constraint branch are described. Decoupling analysis between the actuation wrench screws and the output motions of the 2T1R UPMs is investigated. The input-output mathematical model of the UPMs is established. Then structural synthesis of the suitable constraint branch and the actuated branches is completed by utilizing the screw theory. Finally, a number of novel 2T1R UPMs with a suitable constraint branch are synthesized, following the given assembly rules. Kinematics analysis of the 2PRRRR-PRRR/PPR mechanism is derived as an illustration to demonstrate the correctness and the feasibility of the proposed type synthesis method.</p>

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Research on type synthesis of a new class of 2T1R uncoupled parallel mechanism with a suitable constraint branch

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年5月25日

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  • Liming Song,
  • Yanbin Zhang,
  • Shuang Zhang,
  • Yaoguang Li,
  • Qianchen Pang,
  • Junchao Zhao

摘要

Type synthesis is an essential building block for addressing the original innovation problems of mechanisms. The current paper presents a new class of 2T1R (two-translational and one-rotational) uncoupled parallel mechanisms (UPMs) with a suitable constraint branch by use of the actuation wrench screw theory. The composition principles of the motions, constraints, and driving forces for UPMs with a suitable constraint branch are described. Decoupling analysis between the actuation wrench screws and the output motions of the 2T1R UPMs is investigated. The input-output mathematical model of the UPMs is established. Then structural synthesis of the suitable constraint branch and the actuated branches is completed by utilizing the screw theory. Finally, a number of novel 2T1R UPMs with a suitable constraint branch are synthesized, following the given assembly rules. Kinematics analysis of the 2PRRRR-PRRR/PPR mechanism is derived as an illustration to demonstrate the correctness and the feasibility of the proposed type synthesis method.