| description abstract | In our previous work, we designed a three-degrees-of-freedom (3DOF) translational parallel mechanism based on a proposed design strategy. In this paper, the design strategy is further improved, and a novel spatial translation mechanism (STM) is found. The novel STM consists of a platform, a base, and six modules between the platform and the base. Each module is a passive planar 6R single-loop closed chain, and it is connected with two other modules. Meanwhile, three modules are connected to the base, and the other three modules are connected to the platform. All the connections among the modules, platform, and base are realized by revolute joints. There are no obvious limbs in the mechanism due to the complex connections. The mobility of the STM is analyzed, and the forward kinematics is investigated. To validate the effectiveness and feasibility of the design, one prototype is fabricated. At the end of the paper, we draw some conclusions and discuss the future works. | |
