Abstract
“Two rotational degrees of freedom” and “one translational degree of freedom” (2R1T) parallel mechanisms (PMs) have been successfully applied to develop five-axis hybrid robots for machining purposes. However, the number of passive joints contained in current 2R1T PMs has not still reached the minimum, which may impede these robots from having high stiffness. This study has put forward the concept of ultimate constraint wrenches acting on the PM's moving platform, and this concept was used to reduce the number of kinematic joints to a minimum. Based on the reciprocal screw theory, an ultimate constraint wrench system of the 2R1T PMs was found, and then a series of novel overconstrained 2R1T PMs with the fewest kinematic joints, containing three or four branches, were constructed. Furthermore, based on a developed overconstrained four-branch 2R1T PM RPU-2UPR-RPR, a type of five-axis hybrid robot with the fewest kinematic joints was constructed, which demonstrated good application prospects.
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