Abstract
There are usually several motion patterns having the same DOF (degree of freedom). For example, planar motion, spherical motion, and spatial translation are motion patterns with 3-DOF. An f-DOF parallel mechanism with multiple operation modes is a parallel mechanism that can generate different motion patterns with f DOF. Up to now, no method has been proposed for the type synthesis of parallel mechanisms with multiple operation modes. This paper presents a general method for the type synthesis of parallel mechanisms with multiple operation modes. Using the proposed approach, 3-DOF parallel mechanisms with both spherical and translational modes, i.e., parallel mechanisms generating both the spherical motion pattern and the spatial translational motion pattern, are generated systematically. A large number of parallel mechanisms with both spherical and translational modes are obtained.
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