Structural synthesis of 3T2R five-degree-of-freedom (DoF) hybrid mechanism

This paper presents a novel method of structural synthesis and analysis of hybrid mechanisms based on the set theory. The basic concept of G_F set, algorithms and the type synthesis principle based on G_F set are firstly introduced. The topological arrangements of hybrid mechanisms can be developed by the elements of G_F set combination and rotation axis transfer theorem to obtain the multi-loop forms of hybrid mechanism. According to the approach proposed in this paper, 3T2R 5-DoF hybrid mechanism with determined kinematic characteristic is enumerated. Meanwhile, a method is proposed to analyze kinematic characteristic of hybrid mechanisms synthesized above. Finally, a novel hybrid mechanism is synthesized to demonstrate the applicability of the novel method of structural synthesis for hybrid mechanisms.