Type synthesis approach for 2-DOF 1T1R parallel mechanisms based on POC

Abstract

Type synthesis of 1-translational and 1-rotational (in short, 1T1R) parallel mechanisms is studied using topological structure type synthesis method based on the POC set in this paper. Firstly, a general procedure of type synthesis is given and concrete operation of each step is also given by example. Then eleven kinds of 1T1R parallel mechanisms are obtained, and 5 kinds of which are proposed for the first time. Finally, these parallel mechanisms are classified based on the structure characteristics. This type synthesis approach features few calculation rules, simple mathematics operation and definite geometrical and physical meaning, and it is applicable for both non-overconstrained and general over-constrained mechanisms.