Abstract
Super-large components with complicated surfaces are used for many applications, the processing method of super-large components with complicated surfaces is also problem to be solved. The 5-DOF (degrees of freedom) redundantly actuated parallel robots (RAPRs) can be used as a movable parallel module in a multi-axis machine center to process super-large components with complicated surfaces. However, the mechanical body of RAPRs is a 5-DOF parallel mechanism. This paper focuses on type synthesis of 5-DOF RAPMs with large output rotational angles. First, based on configuration evolution and Lie group theory, one articulated moving platform and four kinds of limbs are designed. By means of the proposed articulated moving platforms and four kinds of limbs, a series of 3T2R and 2T3R RAPMs are synthesized. Then, kinematics of the example, RAPM, is analyzed. The results show the RAPM possesses large output rotational angles. This work lays the foundation for solving the processing method of super-large components with complicated surfaces.
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