This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable workspaces of the moving platforms and higher motion/force transmission performance, as verified by three typical cases. The inverse kinematics, velocities, singularities, and workspaces of the 2-UPR/PRPU PM are analyzed in detail. A new method for motion/force transmission performance evaluation of KR-PMs in accordance with the indices for nonredundant PMs is proposed. Moreover, the local and global motion/force transmission performances of the 2-UPR/PRPU PM are determined using the new method.
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Wu et al. (2023) studied this question.
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