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《Journal of Mechanical Transmission》 2014-01
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Structure and Position Analysis of 2R1T Spatial Parallel Mechanism

Zhang Zhiliang;Li Ruiqin;Guo Yanjun;School of Mechanical and Power Engineering,North University of China;  
A kind of 2R1Tspatial parallel mechanism is instroduced.According to the screw theory,the two-dimensional rotation and one-dimensional translational of this mechanism is achieved and the DOF of the mechanism is calculated.Through establishing the parallel mechanism location equation,the position solution is obtained.At last,a numerical example is given to prove the correctness of the position analysis.The parallel mechanism replenishes S parallel mechanism family,whose three branches are uniform and structure is simpler and the parallel mechanism can be applied in the fields of industrial robots,parallel machine tools,posture adjuster and less degrees of freedom micro-simulator.
【Fund】: 国家自然科学基金项目(51275486)
【CateGory Index】: TP242;TH112
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