Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms with Less Structural Shakiness

Abstract

A translational parallel mechanism (TPM) can produce three-degrees-of-freedom translations of an end effector and is highly useful in applications like positioning and machining tasks. The TPMs considered hereafter have a symmetrical topology. The most successful example of TPM is the Delta robot invented by Clavel. The last two decades have seen extensive studies concerning the TPM and fruitful research progress on the TPM has been obtained. Generally, TPMs can be sorted into two classes: overconstrained and non-overconstrained TPMs.