Structural synthesis of the parallel structure mechanisms containing kinematic chains that impose connections on the output link motion

Parallel structure mechanisms are characterized by many advantages. They are distinguished by the fact that the output link is connected to the base by several kinematic chains; each of them contains a drive or imposes a certain number of connections on the output link motion. Such mechanisms perceive load as the spatial trusses, which determines the increased indicators in accuracy and load capacity. Taking into account the prospects of using parallel structure mechanisms in various industry areas, the paper considers structural design of such mechanisms with one and two degrees of freedom. The synthesized mechanisms contain several drive kinematic chains and one kinematic chain imposing restriction on the output link motion, which determines the implemented number of degrees of freedom. Based on the obtained results, synthesizing all possible structural schemes of the parallel structure mechanisms becomes possible in accordance with the specified initial conditions.
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