New Parallel Robot Mechanisms Based on Chain RPC, PRS and CPS

Constraint screw and DOF to single opened chain PRC, RPS and CPS were analyzed, type synthesis to lower-mobility parallel robot mechanisms based on single-opened-chain RPC, RPS and CPS were carried out by screw theory and single-opened-chain type synthesis method. As a result, some new-style parallel robot mechanisms with three, four or five DOF were presented. By analyzing the kinematic output characteristic matrixes of the active platform of these kinds of mechanisms, translational DOF and rotational DOF of them were gotten. Among these new-style parallel robot mechanisms, 4-RPC and 4-CPS parallel mechanism are ideal parallel robot mechanisms because of the characteristic of same branch chains and symmetrical structure, so this two kinds of parallel mechanisms will have good prospect in industrial application.