Abstract:  In order to develop and apply one-translation and one-rotation (1T1R) parallel mechanism(PM), a new 1T1R PM was proposed and kinematic and kinetic properties analysis were performed. Firstly, a 2 degrees of freedom(DOF) PM featured one -translation and one-rotation PM with symbolic kinematics was designed,according to the topological structure design theory for PM based on position and orientation characteristic (POC) equations. Then, the main topological characteristics such as the POC, DOF and the coupling degree(k)of the PM were analyzed. Further, by kinematic modeling method based on topological characteristics, the symbolic positive and negative position solution were obtained. The singularity of the PM was analyzed based on Jacobian matrix, and the workspace of the PM was calculated based on the positive position formula. Finally, the ordered single-open-chain method based on virtual work principle was used to model the dynamics of the PM, from which the actuated torque and reaction forces of the at the joint of two SKC were solved. The results show that the efficiency of the working space based on the position positive solution formula is improved by 30.7% compared with the reverse solution formula. The kinematics and dynamics research of this institute has laid a foundation for the structure design and prototype development.

Key words: one-translation and one-rotation(1T1R) parallel mechanism(PM); position and orientation characteristic(POC); degrees of freedom(DOF); mechanism workspace; mechanism singularity; ordered single-open-chain method; kinematic analysis