关键词: 并联机构, 单开链, 型综合, 驱动副, 耦合度

Abstract:

Based on the theory of single opened-chain（SOC） forming the structure of a parallel mechanism,some new types of 3T-2R 5-DOF SOC which are formed by a serial binary links or formed by the serial binary links with loops was put forward.The design principle and methodology about topological structure were invoked to make an exhaustive synthesis of 3T-2R parallel mechanism.All the mechanisms meet the design requirements of placing all the actuators on the base,
which makes the electrical control easily.The fundamental characteristics about the mechanisms such as the attribution of the actuators and the coupling degree
were analyzed.The research results are listed in the table. All the mechanisms have great potential in practical use.They provide a vital reference to the optimal selection of 3T-2R 5-DOF parallel mechanism.

Key words: parallel mechanism;single-opened-chain;type synthesis, actuator;coupling degree