Type synthesis of instantaneous motion-free 2R1T parallel mechanism by IMGA method

This paper presents a novel simple method, IMGA, to solve the instantaneous motion problem of parallel mechanism. Based on the geometric regularity between constraints and motion of rigid body, IMGA method can be used to judge all the feasible instantaneous motion of parallel mechanism, and the type synthesis of instantaneous motion-free parallel mechanism. Based on the 3-PRS parallel mechanism, two novel instantaneous motion-free two translational and one rotational DOF parallel mechanisms are obtained.