Synthesis of parallel structure mechanisms with three degrees of freedom containing kinematic chains imposing links on the output link motion

Parallel structure mechanisms, particularly their planar configurations with three degrees of freedom (3-DOF), represent one of the key directions in modern mechanical engineering due to their combination of high precision, rigidity, and the ability to handle significant operational loads. A defining feature of these mechanisms is the presence of multiple kinematic chains connecting the fixed base to the output link. Actuating chains provide motion control, while constraining kinematic chains define the required degrees of freedom. This structural approach redistributes external loads across the links, enhancing the overall stability and dynamic efficiency of the mechanism. One of the important areas of research in such mechanisms is the structural synthesis of their configurations. Existing methodologies are often limited to specific cases, which restricts their applicability in fields requiring specialized solutions. In robotic surgery systems, such mechanisms are employed to ensure high precision and stability of instrument movements. Constraining kinematic chains enable manipulation within confined surgical spaces, eliminating undesired displacements. Additionally, 3-DOF mechanisms are actively used in medical simulators, providing realistic motion reproduction for training surgeons. This study proposes an approach to the synthesis of structural configurations that include one constraining and several actuating kinematic chains. Based on the results obtained, it is possible to synthesize all feasible structural configurations of parallel structure mechanisms with three degrees of freedom, tailored to specific initial conditions. Future prospects include the development of structural configuration atlases, which will automate the configuration selection process and improve design efficiency.
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