This paper systematically develops the type synthesis of single-loop parallel mechanisms (PMs) with three translations (T) along three independent directions and one rotation (R) around one fixed direction (3T1R-PMs). Each limb is driven by a multi-degree of freedom (DOF) drive system, and the output link can generate large rotational angle. Based on previously presented multi-DOF drive systems (DSs), a novel systematic method is proposed to synthesize single-loop 3T1R-PMs based on Lie group theory. To improve the rotation function of the single-loop 3T1R-PM, two types of connecting styles between the output link and the ends of two limbs are introduced to construct the single-loop 3T1R-PM with a full circle rotation function. A class of single-loop 3T1R-PM with two serial limbs driven by a 2-DOF driver and a class of single-loop 3T1R-PM with a hybrid limb driven by a 3-DOF DS and a serial limb driven by a 1-DOF joint are constructed. Moreover, the simulations are implemented to display large pose operation capability of two examples of presented 3T1R-PMs.

本文系统地开发了具有三个独立方向的三个平移（T）和围绕一个固定方向（3 T 1 R -PMs）旋转一圈（R）的单环并联机构（PM）的类型综合。每个肢体均由多自由度（DOF）驱动系统驱动，并且输出连杆可产生较大的旋转角度。在以前提出的多自由度驱动系统（DS）的基础上，提出了一种基于李群理论的单回路3 T 1 R -PM合成系统方法。改善单回路3 T 1 R的旋转功能-PM，引入了输出链接和两个分支的末端之间的两种连接方式，以构造具有完整圆周旋转功能的单回路3 T 1 R -PM。一类单环3 T 1 R -PM，具有两个由2-DOF驱动器驱动的串联分支，一类单环3 T 1 R -PM，具有一个由3-DOF DS和串联驱动的混合分支构造由1-DOF关节驱动的肢体。而且，实施仿真以显示所呈现的3个T 1 R -PM的两个示例的大姿态操作能力。