Type Synthesis of Two DOF Hybrid Translational Manipulators

  • Latifah NurahmiEmail author
  • Stéphane Caro
  • Sébastien Briot
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


This paper introduces a new methodology for the type synthesis of two degrees of freedom hybrid translational manipulators with identical legs. The type synthesis method is based upon screw theory. Three types of two degrees of freedom hybrid translational manipulators with two identical legs are identified based upon their wrench decomposition. Each leg of the manipulators is composed of a proximal module and a distal module mounted in series. The assembly conditions and the validity of the actuation scheme are also defined. Finally, some novel two degrees of freedom hybrid translational manipulators are synthesized with the proposed procedure.


Type synthesis Parallel mechanisms Hybrid legs Screw theory 


  1. 1.
    Carricato, M.: Persistent screw systems of dimension four. In: Springer (ed.) The 13th International Symposium on Advances in Robot Kinematics, pp. 147–156 (2012)Google Scholar
  2. 2.
    Company, O., Pierrot, F., Krut, S., Baradat, C., Nabat, V.: Par2: a spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications. Meccanica 46(1), 239–248 (2011)CrossRefzbMATHMathSciNetGoogle Scholar
  3. 3.
    Gao, F., Li, W., Zhao, X., Jin, Z., Zhao, H.: New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mech. Mach. Theory 37(11), 1395–1411 (2002)CrossRefzbMATHGoogle Scholar
  4. 4.
    Germain, C., Caro, S., Briot, S., Wenger, P.: Singularity-free design of the translational parallel manipulator irsbot-2. Mech. Mach. Theory 64, 262–285 (2013)Google Scholar
  5. 5.
    Kong, X., Gosselin, C.: Type Synthesis of Parallel Mechanism. Springer, Germany (2007)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Latifah Nurahmi
    • 1
    Email author
  • Stéphane Caro
    • 1
  • Sébastien Briot
    • 1
  1. 1.Institut de Recherche en Communications et Cybernétique de NantesNantesFrance

Personalised recommendations