Topology synthesis and classification of a novel family of parallel manipulator with 3-dimension translation and 1-dimension rotation

Based on the single-open-chain method, a systematic and effective design process for structural synthesis of the 4-DOF (3T1R) parallel manipulator is given. And 12 promising 3T1R parallel manipulators with lower coupling degree are presented originally in this paper. Then, these manipulators are deliberately classified according to topological symmetry, the coupling degree, structure simplicity and simple manufacturing and assembling. In terms of different design requirements, the optimal manipulator is recommended. Lastly, a novel synthesized manipulator is applied to cooking robot.