Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms
Table 2
DoF verifications of the 5-DoF PMs with different submechanisms synthesized from the 10 valid DGTs in Figures 3(b)–15(c).
Number
Figure
,
,
1
5(b1)
2
5(b2)
3
5(b3)
4
5(b4)
5
5(b5)
6
5(b6)
7
6(c)
8
7(e1)
9
7(e2)
10
8(c1)
11
8(c2)
12
8(c3)
13
8(c4)
14
8(f1)
15
8(f2)
16
8(f3)
17
8(f4)
18
11(c1)
19
11(c2)
20
11(c3)
21
11(e1)
22
11(e2)
23
11(e3)
24
12(d1)
25
12(d2)
26
13(c)
27
13(f)
28
14(c)
29
14(f)
30
15(d)
,: the numbers of links; : the numbers of pairs; : the numbers of redundant constraints; : passive DoF; : local DoF of kinematic pair; ;,,,, and : the numbers of ,,,, and .
