Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion
International Journal of Robotics Research
Kinematic analysis of a 3-PRS parallel manipulator
Robotics and Computer-Integrated Manufacturing
Type Synthesis of Parallel Mechanisms
Type Synthesis of Parallel Mechanisms
Structural shakiness of nonoverconstrained translational parallel mechanisms with identical limbs
IEEE Transactions on Robotics
Parallel mechanisms with bifurcation of Schoenflies motion
IEEE Transactions on Robotics
A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators
IEEE Transactions on Robotics
Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements
Robotics and Computer-Integrated Manufacturing
A 3-DOF parallel manufacturing module and its kinematic optimization
Robotics and Computer-Integrated Manufacturing
Position, Jacobian and workspace analysis of a 3-PSP spatial parallel manipulator
Robotics and Computer-Integrated Manufacturing
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Parasitic motion is a major drawback of the general 1T2R parallel mechanism (PM), where T denotes a translation degree of freedom (DOF) and R a rotational DOF. This paper investigates the type synthesis of the 1T2R PM without parasitic motion. First, a brief review on the planar-spherical bond and its mechanical generators is presented. Then, the difference between the general and special aTbR motion is discussed. Relations between the parasitic motion and the general and special aTbR motion are revealed. an infinitesimal 1T2R PM with rotation bifurcation is presented as a special case. Further, the definition of the 1T2R PM without parasitic motion is presented, and the limb bond {G(u)}{S(N)} is identified. Geometrical conditions to construct an 1T2R PM without parasitic motion are presented, and nonoverconstrained 1T2R PMs without parasitic motion are synthesized. Idle pairs in the nonoverconstrained 1T2R PMs without parasitic motion are detected. Finally, overconstrained 1T2R PMs without parasitic motion are obtained by removing the idle pairs in the nonoverconstrained 1T2R PMs.