Table 5 Criterion for construction of closed-loop unit for three translational fully decoupled parallel mechanisms
Type of driving pair | Screw type of kinematic pair connected to the moving platform | Basic decoupled limb configuration | The relationship between the kinematic pair of the constructed limb connecting the moving platform and the kinematic pair of the basic decoupled limb connecting the moving platform | The relationship between the driving pair of the constructed limb and the driving pair of the basic decoupled limb | Whether to add redundant actuation | Instance |
|---|---|---|---|---|---|---|
Driving pair is a prismatic pair | The kinematic pair connected to the moving platform in the basic decoupled limb is a revolute pair | PRRR | Coaxial | Share | No | Table 4-(1) |
Parallel | Parallel | Yes | Table 4-(2) | |||
The kinematic pair connected to the moving platform in the basic decoupled limb is a prismatic pair | PRRP | Share | Share | No | Table 4-(3) | |
Coaxial | Parallel | Yes | Table 4-(4) | |||
Driving pair is a revolute pair | The kinematic pair connected to the moving platform in the basic decoupled limb is a revolute pair | RRRRR | Parallel | Coaxial | Yes | Table 4-(5) |
Parallel | Parallel | Yes | Table 4-(6) | |||
Parallel | Share | No | Table 4-(7) | |||
The kinematic pair connected to the moving platform in the basic decoupled limb is a prismatic pair | RRRRP | Share | Parallel | Yes | Table 4-(8) | |
Coaxial | Parallel | Yes | Table 4-(9) | |||
Parallel | Coaxial | Yes | Table 4-(10) |