1. 2 Degrees of Freedom Parallel Mechanism.
2 degrees of freedom parallel mechanism, such as 5-R, 3-R-2-P (R represents rotating pair, P represents moving pair) plane 5-bar mechanism is the most typical 2 degrees of freedom parallel mechanism, this kind of mechanism generally has 2 moving motion.
2. 3 Degrees of Freedom Parallel Mechanism.
3. There are many types of parallel mechanisms with degrees of freedom, and the forms are more complex, generally in the following forms: planar 3 degrees of freedom parallel mechanisms, such as 3-RRR mechanisms and 3-RPR mechanisms, which have 2 movements and one rotation; Spherical 3 degrees of freedom parallel mechanism, such as 3-RRR spherical mechanism, 3-UPS-1-S spherical mechanism, 3-RRR spherical mechanism The axis of all motion pairs intersects the space at one point, which is called the center of the mechanism, and the 3-UPS-1-S spherical mechanism takes the center point of S as the center of the mechanism, and the motion of all points on the mechanism is the rotational motion around the point; Three-dimensional pure mobile mechanisms, such as Star Like parallel mechanism, Tsai parallel mechanism and DELTA mechanism, the kinematic positive and negative solutions of this kind of mechanism are very simple, and it is a widely used 3D mobile space mechanism; Space 3-degree-of-freedom parallel mechanism, such as the typical 3-RPS mechanism, this kind of mechanism belongs to the under-rank mechanism, and its different motion forms at different points in the working space are its most significant characteristics, and because of this special motion characteristic, it hinders the wide application of this kind of mechanism in practice; Another type is to increase the space mechanism of auxiliary members and motion pairs, such as the 3-UPS-1-PU spherical coordinate type 3 degrees of freedom parallel mechanism used in the parallel machine tool developed by the University of Hannover in Germany, due to the constraints of auxiliary members and motion pairs, the motion platform of the mechanism has 1 moving and 2 rotating movements (it can also be said to be 3 moving movements) [1] .
3. 4 Degrees of freedom parallel mechanism.
4 degrees of freedom parallel mechanism is mostly not a complete parallel mechanism, such as 2-UPS-1-RRRR mechanism, the motion platform is connected with the fixed platform through 3 branch chains, there are 2 motion chains are the same, each has 1 Hook hinge U, 1 moving pair P, where P and 1 R are driving pairs, so this mechanism is not a complete parallel mechanism.
4. 5 Degrees of Freedom Parallel Mechanism.
The existing 5 degrees of freedom parallel mechanism has a complex structure, such as the 5 degrees of freedom parallel mechanism of Lee in Korea has a double-layer structure (the combination of 2 parallel mechanisms).
5. 6 Degrees of Freedom Parallel Mechanism.
6 Degrees of Freedom parallel mechanism is a large category of parallel robot mechanism, which is the most studied parallel mechanism by scholars at home and abroad, and is widely used in the fields of flight simulator, 6-dimensional force and torque sensor and parallel machine tool. However, there are many key technologies of this type of mechanism that have not been fully solved or have not been fully solved, such as the correct solution of its kinematics, the establishment of dynamic models, and the accuracy calibration of parallel machine tools. From the point of view of complete parallelism, such a mechanism must have 6 chains of motion. But in the existing parallel mechanism, there are also 6 degrees of freedom parallel mechanism with 3 motion chains, such as 3-PRPS and 3-URS and other mechanisms, and there is also a 6 degree of freedom parallel mechanism that attaches 1 5-bar mechanism to each branch of 3 branches as this driving mechanism etc.
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