Type Synthesis of Two DOF Hybrid Translational Manipulators
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.
KeywordsType synthesis Parallel mechanisms Hybrid legs Screw theory
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