Research Papers

A New Family of Symmetrical 2T2R Parallel Mechanisms Without Parasitic Motion

[+] Author and Article Information
Wei Ye

Faculty of Mechanical Engineering
& Automation,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: wye@zstu.edu.cn

Leiying He

Faculty of Mechanical Engineering
& Automation,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: hlying@zstu.edu.cn

Qinchuan Li

Faculty of Mechanical Engineering
& Automation,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn

1Corresponding author.

Manuscript received June 5, 2017; final manuscript received October 24, 2017; published online December 20, 2017. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 10(1), 011006 (Dec 20, 2017) (9 pages) Paper No: JMR-17-1171; doi: 10.1115/1.4038527 History: Received June 05, 2017; Revised October 24, 2017

This paper focuses on parallel mechanisms (PMs) that can perform two translations and two rotations (2T2R). Two sufficient conditions for eliminating parasitic motion in 2T2R PMs are presented. A motion expression satisfying those two conditions is identified and several kinematic bonds containing that motion are found. To achieve symmetrical structures, a configurable platform that generates an instantaneous translation motion is presented, to which four limbs having identical structures are connected, leading to the construction of novel 2T2R PMs. Several designs that may have good practical values are identified and form a mechanism family. A typical mechanism is selected with its position model, workspace, singularity thoroughly investigated. Redundant limbs are added to eliminate the singularities, which then ensure the rotational capability. The proposed mechanisms have the advantages of identical limbs, no parasitic motion, and relatively high rotational capability, which can be used in several applications such as in five-axis machine.

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Fig. 1

A 2T2R single loop chain with two identical limbs

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Fig. 2

A single loop chain with similar limbs

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Fig. 3

Computer-aided design models: (a) The configurable platform and (b) a modified single loop chain

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Fig. 4

The new family of PMs: (a) the 4(uRuRuvU)‐CPP, (b) the 4(⊥uPuRuvU)‐CPP, and (c) the 4(uR⊥uPuvU)‐CPP

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Fig. 5

The 4(⊥uPuRuvU)‐CPP PM: (a) geometrical model and (b) 3D printed model

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Fig. 6

Front view of the CPP

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Fig. 7

The local planar chain A1B1B4A4

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Fig. 8

Workspace and rotational capability demonstration

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Fig. 9

All the input joints are locked: (a) side view of the PM and (b) the equivalent chain

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Fig. 10

Two-dimensional view of the singular curves inside the workspace: (a) y = 0; z = 0, (b) y = 30; z = 0, and (c) y = −30; z = 0

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Fig. 11

A redundantly actuated PM: (a) 3D printed model, (b) used in five-axis machine, and (c) local view of the tool



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