A Novel 2-DOF Translational Robot with Two Parallel Linkages Synchronous Telescopic Structures

A parallel robot mechanism with two parallel links is proposed. It can realize the motion characteristics of synchronous telescopic in the swing state by employing a set of constraints of a synchronous belt drive system. Further, the moving platform can have 2-DOF translational motion and no singularity in its workspace by integrating the special synchronous belt drive system into the parallelogram mechanism. The kinematics analysis of the mechanism includes position-forward solution, position-reverse solution, velocity analysis, and workspace analysis. Moreover, the trajectory planning of the robot and one of its trajectory routes are presented. The distribution mode of velocity and acceleration on the trajectory is set, and the position, velocity, and acceleration of the trajectory interpolation points are obtained. Finally, the prototype manufacture is completed, and relevant tests are carried out.