Artiomimetic evolution of a new family of single-DOF parallel mechanisms with centralized motion

This paper proposes a new design procedure, which aids the inventor in the conception of artiomimetic-based parallel mechanisms. Artiomimetics is referred as the practice of analogical design that imitates the structure, behaviour, or feature of an artifact. The procedure allows the designer, in a straightforward manner, to create new architectures of parallel mechanisms. These mechanisms will imitate the characteristics of a certain artifact by setting a particular topological and geometrical arrangement, which provides the desired mobility of the mechanism. For purposes of illustration, the artiomimetic evolution procedure is applied to imitate the motion of a 5-RSP parallel manipulator. The result is a new family of parallel mechanisms with translational centralized motion. The new mechanisms have n identical legs connecting the fixed base to the moveable platform. Each leg has a three-link chain connected by two revolute joints and a prismatic joint. The revolute joints, attached to the base, are chosen as the active inputs. The instantaneous axis of translation of the platform is shown to be perpendicular to the base for all positions of the platform. The paper presents a mobility analysis of the n-RRP mechanisms via screw theory. Finally, a velocity analysis and a study of the singularity configurations of the manipulator are presented in the paper.