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The paper presents a novel type synthesis approach of the symmetrical planar parallel robots using the concept of kinematic connection. Based on the constrained motion condition, the considered kinematic connections for the symmetrical planar parallel robot legs have DoF = 0. The type synthesis method takes into consideration the kinematic connections which contain revolute, prismatic and centroidal joints, as well as planar joints like gear and belt joints. Moreover, the development of several symmetrical planar parallel robot structures is shown.

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Novel Type Synthesis Approach of Symmetrical Planar Parallel Robots Using Kinematic Connections

  • 会议论文

  • 发表日期：

    2026年

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  • Erwin-Christian Lovasz,
  • Marco Ceccarelli,
  • Antonio-Marius-Flavius Lupuţi,
  • Elida-Gabriela Tulcan,
  • Ana-Maria Scurt,
  • Robert Kristof

摘要

The paper presents a novel type synthesis approach of the symmetrical planar parallel robots using the concept of kinematic connection. Based on the constrained motion condition, the considered kinematic connections for the symmetrical planar parallel robot legs have DoF = 0. The type synthesis method takes into consideration the kinematic connections which contain revolute, prismatic and centroidal joints, as well as planar joints like gear and belt joints. Moreover, the development of several symmetrical planar parallel robot structures is shown.