A family of spatial translational parallel robots

This paper focuses on the construction approach of a family of spatial translational parallel robots (STPRs) whose actuated joint of each limb is a prismatic joint and is fixed in the base. This family of robots has potentially wide range of application in the field of industry due to their high stiffness and acceleration. A lot of topological limbs were proposed in the literatures. But, how construct all possible STPRs by a topological limb is an open problem. All possible topological limbs are listed firstly, which are consisted of prismatic, revolute, and some compositive joints. Then, all possible layouts of three actuated prismatic joints in the base are analyzed in terms of the number of absolute direction of the prismatic joints, and each layout is depicted fairly through corresponding structure parameters. Additionally, the assembly conditions and the construction approach of a family of STPRs are given respectively. Finally, all possible STPRs belong to this family are obtained.