Eighteen fully symmetrical 5-DoF 3R2T parallel manipulators with better actuating modes

Different to currently existing serial manipulators, the actuators for some parallel manipulators can be assembled directly for base pairs or prismatic pairs near the base platform. Such a base-mounted actuator or near-base actuator structure will reduce the extra load, thinner links and promote the speed of the device, which will, consequently, promote the production efficiency for a manipulator. Recently, researchers have paid more and more attention to lower-mobility parallel manipulators. However, 5-DoF 3R2T (three rotational, two translational) parallel manipulators with fully symmetrical structures have not yet received enough attention, although they have a wide application background. This study identified 11 5-DoF 3R2T parallel manipulators from a group of about 70 existing structures and proposed seven novel ones. Fifteen of them adopt a base-mounted actuator structure. The other three adopt a near-base actuator structure. All of them have fully symmetrical structures. Moreover, a simple method for all 18 manipulators to avoid assembly singularity is also illustrated in this study.

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