Type synthesis of 6-DOF mobile parallel link mechanisms based on screw theory

Mobile parallel mechanisms (MPMs), which are with moveable bases, have previously been proposed to resolve the limited workspace of conventional mechanisms. However, most previous studies on subject focused kinematic analysis some specific MPMs and did not discuss a type synthesis method for MPMs. With this in mind, we propose screw theory-based find out possible 6-degrees-of-freedom (DOF) MPM structures. In our method, 6-DOF mobility is divided into 3-DOF planar motion spatial motion, both realized by transmitted motions driving units. Separately, entire that unit connecting chain. To realize two methods, applying singularity configuration adding an additional chain, as ways restrict undesired The synthesized via same type-synthesis chain considering mechanism. used integrate was constructed based whether end pair should be connected directly or driven it through actuating As result, 284 types structure suggested four examples six DOFs were verify feasibility method.