Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

This study presents a family of novel translational parallel mechanisms(TPMs)with single-loop topological structures.The proposed mechanism consists of only revolute and prismatic joints.The novel TPMs are simpler in structure and have fewer joints and components than the well-known Delta Robot.Four types of 2-degree of freedom driving systems are applied to different limb structures to avoid the moving actuator that causes the problem of increased moving mass.Four sample TPMs are constructed using the synthesized limbs,and one of them is investigated in terms of kinematic performance.First,a position analysis is performed and validated through numerical simulation to reveal the characteristics of partially decoupled motion,which improves the controllability of TPM.Second,singular configurations are identified,and the resulting singularity curve is obtained.Lastly,the workspace of TPM is analyzed,and the relationship between the singular configurations and the reachable workspace is explored.The workspace of the 3-CRR(C denotes the cylindrical joint and R denotes the revolute joint)translational mechanism is also presented to prove that the proposed TPM has a fairly large workspace.