Abstract Spatial joints (Hooke and spherical joint) generally limit parallel manipulator's motion range and performance, while higher performance will be achieved when applying more planar pairs (prismatic and revolute joint), which can promise small movement constraints and high stiffness. In this paper, a novel design method for three translational degrees of freedom parallel mechanisms containing prismatic joints and parallelogram units ((R-R)2 linkage) is proposed by mapping relationship with augmented matrices of upper triangular matrix. All these mechanisms can be assembled quickly with modular parts and most of which are partially decoupled. In this study, one of these proposed structures is taken as an example for developing a redundant manipulator. Based on vector-loop equations, its position model is derived and the singular configurations are investigated. Kinematic and static performance of this architecture are conducted, as well as the multi-objective optimization is implemented using Genetic Algorithm.

中文翻译：

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一类棱柱平行四边形关节平移并联机构的枚举与优化设计

摘要 空间关节（虎克关节和球关节）通常限制了并联机械手的运动范围和性能，而应用更多的平面副（棱柱关节和旋转关节）可以获得更高的性能，可以保证小运动约束和高刚度。在本文中，通过与上三角矩阵的增广矩阵的映射关系，提出了包含棱柱关节和平行四边形单元（（RR）2连杆）的三个平移自由度并联机构的新设计方法。所有这些机构都可以通过模块化部件快速组装，其中大部分是部分分离的。在本研究中，将这些提议的结构之一作为开发冗余机械手的示例。基于向量环方程，推导了其位置模型并研究了奇异配置。对该架构进行了运动学和静态性能测试，并使用遗传算法实现了多目标优化。