A General Method for Structural Synthesis of the Degenerate-rank Parallel Robot Mechanisms Based on the Units of Single-opened-chain

Abstract

Based on the units of single-opened-chain limb , some structural laws of degenerate-rank parallel robot mechanisms are reveale d, and a systematic and effective new method for structural synthesis of paralle l robot mechanisms is put forward in this paper. The method proposed in this pap er is of universal significance and has been used for the structural synthesis o f some types of degenerate-rank parallel robot mechanisms, such as 3-DOF, 4-D OF, and 5-DOF mechanisms.