Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left">Basic element</td><td align="center">Mathematic meaning</td><td align="center">Physical meaning</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left"><img alt="206181.table.002a" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.002a.jpg"/></td><td align="center">Vector</td><td align="center">Rotational DOF</td></tr><tr><td align="left"><img alt="206181.table.002b" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.002b.jpg"/></td><td align="center">Vector</td><td align="center">Constraint force</td></tr><tr><td align="left"><img alt="206181.table.002c" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.002c.jpg"/></td><td align="center">Couple</td><td align="center">Translational DOF</td></tr><tr><td align="left"><img alt="206181.table.002d" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.002d.jpg"/></td><td align="center">Couple</td><td align="center">Constraint couple</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Basic elements in line graph and their meanings.

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms 