Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate

• A novel 1T3R 4-DoF parallel manipulator with an articulated travelling plate is proposed.
• The twist of the parallel manipulator is written as that of the open-loop manipulator.
• The generalized virtual power transmissibility is defined.
• The kinematic optimal design is carried out considering the force and motion transmissibility.

Driven by the requirements of the large-scale component assemblage for the docking platform, this paper proposes a novel one-translational-three-rotational (1T3R) parallel manipulator with an articulated travelling plate, which can provide high stiffness and good accuracy performances in the assemblage. The underlying architecture of this manipulator is briefly addressed with emphasis on the practical realization of the articulated travelling plate. On the basis of the kinematic analysis of the 1T3R parallel manipulator, its optimal design considering the force and motion transmissibility is carried out, in which the generalized virtual power transmissibility of this manipulator is defined. This paper aims at laying a solid theoretical and technical foundation for the prototype design and manufacture of the 1T3R parallel manipulator.