Type synthesis method for three translational parallel mechanisms while considering velocity/force anisotropy

In some practical applications, the performance requirements of mechanisms differ significantly in various directions. However, this factor is not considered during the configuration design phase of parallel mechanisms (PMs), resulting in performance mismatches with actual needs in different directions. This mismatch leads to increased energy consumption, higher costs, and greater space occupation. To achieve a high degree of match between mechanism performance and practical needs, a type synthesis method for three translational (3T) PMs while considering velocity/force anisotropy is proposed in this paper. Furthermore, within the context of contact lens packaging, configuration synthesis for anisotropic 3T PMs is performed using the proposed method. By analyzing the speed transmission indices and experimental results of the 2URU/PPaPa PM in different directions, it is found that the anisotropic speed characteristics of this mechanism are consistent with the requirements of the actual application, thereby validating the proposed configuration synthesis method.