The Development of One-Degree-of-Freedom Parallel Structure Mechanisms with a Circular Guide

The authors develop one-degree-of-freedom spatial parallel structure mechanisms with a hexapod-type circular guide. For the synthesis of these mechanisms, a new method is applied that involves integrating a planar linkage, serving as a horizontal movable base, and spatial kinematic chains including connecting links and end-effectors (platforms). The base mechanism is designed with six kinematic chains ending with carriages, on which the connecting links of spatial chains are vertically mounted. The position of the end-effectors of the developed mechanisms is controlled by a single drive set located in the center of the circular guide. The mechanisms reproduce different trajectories of the end-effectors by length change of a single link in each kinematic chain. The presented mechanisms can be applied for spatial orientation of various objects and carrying out cyclic operations. Kinematic schemes of such mechanisms can be used for developing medical devices, orientation platforms for processing machine parts, as well as for designing vibration tables.

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