Development of a Novel 3-DoF Purely Translational Parallel Mechanism

In view of the successful application of planar parallelogram in the Delta robot and its variants, we are interested to investigate mechanisms consisting of spatial parallelograms. The spatial parallelogram, denoted by Pscr_a*, is a 2-SS (S stands for a spherical joint) parallel mechanism having identical length for opposite links. We show that a 3-PPscr _a* mechanism is generically undergoes 3-dimensional purely translational motion. Based on the 3-PPscr _a* topology, an integrated optimal design on both architecture and geometry design is carried out. Using the formulation of maximizing effective cubic workspace, the Orthopod, which has three orthogonally arranged linear joint axes, is found to be the best in our settings. A prototype machine of the Orthopod is thus designed and manufactured.