Type synthesis of 3-RSR equivalent 2R1T parallel mechanisms

Ziming Chen*, Yanwen Li, Zhen Huang, Xianwen Kong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Parallel mechanisms (PMs) with two rotational and one translational (2R1T) degrees of freedom (DOFs) have attracted much attention these years. The 2R1T PMs can be divided into various categories due to different motion patterns, such as the UP equivalent PMs, the RPR equivalent PMs, the PU equivalent PMs and the 3-PPS equivalent PMs. In this paper, the 2R1T PMs have the same motion characteristics with the 3-RSR PM are studied and synthesized. This kind of PMs can be called as 3-RSR equivalent 2R1T PMs. The 3-RSR equivalent 2R1T PMs can realize both continuous rotations about fixed axes and continuous translation along fixed directions. The constraint and motion characteristics of the 3-RSR equivalent 2R1T PMs are analyzed. The design of the branches for the 3-RSR equivalent 2R1T PMs is dealt with using the screw theory and the subchains. A group of novel 3-RSR equivalent 2R1T PMs are obtained.

Original languageEnglish
Title of host publicationASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791851807
Publication statusPublished - 2018
Event42nd Mechanisms and Robotics Conference 2018 - Quebec City, Canada
Duration: 26 Aug 201829 Aug 2018


Conference42nd Mechanisms and Robotics Conference 2018
CityQuebec City

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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