Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles

  • Bing-Shan Jiang
  • Hai-Rong FangEmail author
  • Hai-Qiang Zhang
Research Article


Based on Lie group theory and the integration of configuration, a class of 3T2R (T denotes translation and R denotes rotation) parallel mechanisms with large output rotational angles is synthesized through a five degree of freedom single limb evolving into two five degree of freedom limbs and constraint coupling of each kinematics chain. A kind of 3T2R parallel mechanisms with large rotational angles was selected from type synthesis of 3T2R parallel mechanisms, inverse kinematics and velocity Jacobian matrix of the parallel mechanism are established. The performance indices including workspace, rotational capacity, singularity and dexterity of the parallel mechanism are analyzed. The results show that the parallel mechanism has not only large output rotational angles but also better dexterity.


Type synthesis Lie group theory configuration evolution kinematics performance evaluation 


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This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).


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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Mechanical, Electronic and Control EngineeringBeijing Jiaotong UniversityBeijingChina

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