Skip to main content
Log in

Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript


A systematic procedure for the task-oriented type synthesis of parallel mechanisms (PMs) with a common platform is proposed in this study. The method is composed of two stages. In the first stage, constraint wrenches that are compatible to specific task-oriented output motions of the PM is distributed to several limbs. In the second stage, the geometric conditions and admissible joint structures of PM limbs are identified by employing the concept of reciprocal screw. Then desired symmetric or asymmetric PMs are constructed with the proper combinations of those admissible limbs. Lastly, the suggested synthesis method is verified by identifying various forms of lowermobility PMs, such as planar 1T-type PMs, spatial 2T-type PMs and spatial 1T2R-type PMs.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others


  1. Z. Huang and Q. C. Li, General methodology for type synthesis of symmetrical lower–mobility parallel manipulators and several novel manipulators, The International Journal of Robotics Research, 21 (2) (2002) 131–145.

    Article  Google Scholar 

  2. Z. Huang and Q. C. Li, Type synthesis of symmetrical lower–mobility parallel mechanisms using the constraint synthesis methods, The International Journal of Robotics Research, 22 (1) (2003) 59–79.

    Google Scholar 

  3. F. Gao, W. Li, X. Zhao, Z. Jin and H. Zhao, New kinematic structures for 2–, 3–, 4–and 5–DOF parallel manipulator designs, Mechanism and Machine Theory, 37 (2002) 1395–1411.

    Article  MATH  Google Scholar 

  4. Y. Fang and L. W. Tsai, Structure synthesis of a class of 4–DOF and 5–Dof parallel manipulators with identical limb structures, International Journal of Robotics Research, 21 (9) (2002) 799–810.

    Article  Google Scholar 

  5. X. W. Kong and C. M. Gosselin, Type synthesis of parallel mechanisms, Springer–Verlag, Berlin, Germany, 33 (2007).

    MATH  Google Scholar 

  6. Q. Li, Z. Huang and J. M. Herve, Type synthesis of 3R2T 5–DOF parallel mechanisms using the Lie group of displacements, IEEE Trans. on Robotics and Automation, 20 (2) (2004) 173–180.

    Article  Google Scholar 

  7. M. Karouia and J. M. Hervé, Asymmetrical 3–dof spherical parallel mechanisms, European Journal of Mechanics A/Solids, 24 (2005) 47–57.

    Article  MATH  Google Scholar 

  8. S. Refaat, J. M. Hervé, S. Nahavandic and H. Trinhc, Asymmetrical three–DOFs rotational–translational parallelkinematics mechanisms based on Lie group theory, European Journal of Mechanics–A/Solids, 25 (3) (2006) 550–558.

    Article  Google Scholar 

  9. O. Salgado, O. Altuzarra, V. Petuya and A. Hernandez, Synthesis and design of a novel 3T1R fully–parallel manipulator, ASME Journal of Mechanical Design, 130 (4) (2008) 042305 (1–8).

    Article  Google Scholar 

  10. C. C. Lee and J. M. Herve, Type synthesis of primitive Schoenflies–motion generators, Mechanism and Machine Theory, 44 (2009) 1980–1997.

    Article  MATH  Google Scholar 

  11. B.–J. Yi, S. M. Kim, H. K. Kwak and W. K. Kim, Multitask oriented design of an asymmetric 3T1R type 4–DOF parallel mechanism, Proc. of Mechanical Engineering, Part C: J. of Mechanical Engineering Science, 227 (10) 2236–2255.

  12. G. Gogu, Structural synthesis of fully–isotropic parallel robots with Schönflies motions via theory of linear transformations and evolutionary morphology, European Journal of Mechanics A/Solid, 26 (2007) 242–269.

    Article  MathSciNet  MATH  Google Scholar 

  13. S. R. Babu, V. R. Raju and K. Ramji, Design optimization of 3PRS parallel manipulator using global performance indices, Journal of Mechanical Science and Technology, 30 (9) (2016) 4325–4335.

    Article  Google Scholar 

  14. J. H. Chung, B.–J. Yi and S. Oh, A foldable 3–DOF parallel mechanism with application to a flat–panel TV mounting device, IEEE Transactions on Robotics, 25 (5) (2009) 1214–1221.

    Article  Google Scholar 

  15. J. H. Chung, B.–J. Yi, S. H. Lee and W. K. Kim, Implementation of a foldable 3–DOF master device to a glass window panel fitting task, Automation in Construction, 19 (7) (2010) 855–866.

    Article  Google Scholar 

  16. S. M. Kim, B.–J. Yi, J. Cheong, M. G. Kim and W. K. Kim, Implementation of a revolute–joint–based asymmetric Schönies motion haptic device with redundant actuation, Mechatronics, 50 (2018) 87–103.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations


Corresponding author

Correspondence to Whee Kuk Kim.

Additional information

Recommended by Associate Editor Hugo Rodrigue

Byung-Ju Yi received the B.S. degree from Hanyang University, Seoul, Korea, in 1984, and the M.S. and Ph.D. degrees from The University of Texas at Austin (UT), TX, USA, in 1986 and 1991, respectively, in mechanical engineering. He served as a Postdoctoral Fellow in the Robotics Group at UT and worked for the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chungnam, Korea. Since 1995, He has been a Professor at the Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea. His research interests include robot mechanics with application to surgical robotic systems and ubiquitous sensor network-based robotics.

Wheekuk Kim received the B.S. degree in mechanical engineering from Korea University, Korea, in 1980, and the M.S. and Ph.D. degrees in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 1985 and 1990, respectively. Since 1991, he has been working as a Professor at the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea. His research interests are in the area of design of parallel robots, synthesis on both the parallel mechanisms and cable-driven parallel mechanisms, and kinematic/ dynamic modeling and analysis of parallel robots.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yi, BJ., Kim, W.K. Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform. J Mech Sci Technol 32, 5373–5387 (2018).

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: