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

<table class="table-group" id="tab6"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left">Constraint and freedom</td><td align="center" colspan="3">Typical subspaces and typical mechanisms</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left"><img alt="206181.table.006a" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006a.jpg"/></td><td align="center"><img alt="206181.table.006b" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006b.jpg"/></td><td align="center" colspan="2"><img alt="206181.table.006c" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006c.jpg"/></td></tr><tr><td align="left"><img alt="206181.table.006d" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006d.jpg"/></td><td align="center"><img alt="206181.table.006e" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006e.jpg"/></td><td align="center" colspan="2"><img alt="206181.table.006f" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006f.jpg"/><img alt="206181.table.006g" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006g.jpg"/></td></tr><tr><td align="left"><img alt="206181.table.006h" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006h.jpg"/></td><td align="center"><img alt="206181.table.006i" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006i.jpg"/></td><td align="center"><img alt="206181.table.006j" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006j.jpg"/></td><td align="center"><img alt="206181.table.006k" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006k.jpg"/></td></tr><tr><td align="left"><img alt="206181.table.006l" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006l.jpg"/></td><td align="center"><img alt="206181.table.006m" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006m.jpg"/></td><td align="center"><img alt="206181.table.006n" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006n.jpg"/></td><td align="center"><img alt="206181.table.006o" src="https://static.hindawi.com/articles/mpe/volume-2013/206181/figures/206181.table.006o.jpg"/></td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Type synthesis results of 1T2R parallel mechanisms.

Mathematical Problems in Engineering

tab6

Table 6

Table 6: Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms 