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A 2-DOF Translational Parallel Manipulator with Passive Universal Joints

In the paper, a novel 2-DOF (degree of freedom) plane translational parallel manipulator with passive universal joints and three legs is presented. Firstly, the 2-DOF translational parallel manipulator which has the spatial structure and high bearing capacity in the direction perpendicular to the kinematics plane is described. Then, the kinematics analysis of the 2-DOF parallel manipulator, which include inverse and forward solutions, are studied in detail, and the Jacobian matrix of the parallel manipulator is also derived based on it. Lastly, to improve the stability and bearing capacity further, the symmetric mechanisms with four legs and passive universal joints are constructed by adding a leg in parallel. The proposed 2-DOF parallel manipulator not only has the simple structure, but high stiffness especially in the direction perpendicular to kinematics plane for its spatial arrangment and passive universal joints.