Topology Synthesis of a 1 Translational and 3 Rotational Parallel Manipulator With an Articulated Traveling Plate

Abstract

Driven by the increasing demands of the aircraft assemblage for the poseadjustment equipment in the largescale component docking, this paper carries out the topology synthesis of a 1translational and 3rotational (1T3R) four degrees of freedom (DoF) parallel manipulator with an articulated traveling plate. First, the articulated traveling plate is defined as that includes more than one rigid body articulated by one or more kinematic joints. Then, the relationship among the DoFs of the parallel manipulator and the articulated traveling plate and the number of the inparts are proposed. According to the agreement of the arrangement way between the openloop limbs and the inparts, the topology synthesis procedure of the 1T3R 4DoF parallel manipulator with an articulated traveling plate is proposed. Finally, their topology structures are obtained by discussing those of four types in terms of 1DH, 1DV type with opposite layout and 1DH, 1DV type with adjacent layout, in which the topology structures exist only for 1DH and 1DV type with opposite layout