Synthesis of l-coordinate Parallel Mechanism Without Singularities

This article considers relevant topics related to the research and development of the new types of parallel manipulators. These devices move by linear drives located outside their working space. On the example of a novel parallel l-coordinate manipulation, the paper demonstrated some aspects of its singularity analysis and geometrical synthesis. The proposed method uses grapho-analytical techniques based on the direct kinematics solution, which has a closed-form solution for the presented mechanism. The approach studies the singularities concerning the spatial geometrical figures formed by the mechanism links. The analytical part of the method allows finding such geometrical parameters of the mechanist so that it will not have singularities in its working area. A numerical example demonstrates the implementation of the proposed approach.