Type synthesis of 3T2R decoupled hybrid mechanisms with large bearing capacity.

This paper proposes a new synthesis method of three translational and two rotational (3T2R) decoupled hybrid mechanism with large bearing capacity, based on the screw theory and the atlas method. According to the degree of freedom and decoupled characteristics of the 3T and 2R mechanisms, the decoupled conditions for the 3T and 2R parallel mechanisms are proposed. The optimal conditions for the motion/force transmission performance of the 3T decoupled parallel mechanisms with redundant actuation is presented. A redundant actuated limb construction method is proposed to improve the load capacity of the hybrid mechanism. Following the design steps of the fully decoupled hybrid mechanism, 3T2R hybrid mechanisms with large load capacity are obtained. Kinematics and statics analysis verify the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in large load occasion. [ABSTRACT FROM AUTHOR]