Configuration Design of Lower-Mobility Parallel Driving Mechanisms

A type of parallel driving mechanism (PDM) is proposed in this paper. PDM is different from parallel mechanism and hybrid mechanism, which is composed of the operating mechanism, driving mechanism, and connecting joint. Both the operating mechanism and driving mechanism are connected to the frame which can reduce the inertia at the end of the mechanism and improve the dynamic response. Based on the PDM’s concept, configuration design process of lower-mobility PDM is proposed. In this process, the matching procedure between the driving mechanism, operating mechanism and connecting joint in PDM during configuration design is presented. On this basis, the configuration design of 3–5 degrees-of-freedom (DOFs) PDM is carried out. PDM can enrich the types of mechanisms and provide more configuration options for mechanical equipment. The configuration design process provides theoretical support for developing new PDMs and three PDMs has good potential to be used in different application.