Type synthesis of a new class of 4-3T1R(y) parallel mechanisms for parallel machine tools design

Unlike previous design procedures for parallel machine tools (PMTs), this paper first analyzes the path and posture requirements of the tools in universal processing, then proposes and constructs a new class of PMs that can provide the required path and posture. This opens up new ideas for the design of PMTs. Based on the reciprocal screw theory, a type synthesis process of asymmetrical lower-mobility PMs was proposed. Through this process, a novel class of four-limbed parallel mechanisms (PMs) providing three translations and one rotation around a horizontal axis (y-axis), denoted as 4-3T1R(y) PMs, was successfully proposed and constructed. Such PMs can be applied to the design of PMTs, especially the design of micro-electrical discharge machining (micro-EDM) PMTs. The structural design of a new 2RRC-2CRU PM, which was a member of 4-3T1R(y) PMs, was performed, and its mobility was analyzed in detail to demonstrate the efficiency of the proposed type synthesis process. The inverse, forward, and velocity kinematics problems of the 2RRC-2CRU PM were solved for further applications.