Novel Design of a 3T2R 5-DOF Parallel Manipulator

Abstract

A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grübler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.