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This article presents a new three-degree-of-freedom (3-DOF) parallelmechanism (PM) with two translations and one rotation (2T1R), designed based onthe topological design theory of the parallel mechanism using position andorientation characteristics (POC). The PM is primarily intended for use inpackage sorting and delivery. The mobile platform of the PM moves along atranslation axis, picks up objects from a conveyor belt, and tilts them toeither side of the axis. We first calculate the PM's topologicalcharacteristics, such as the degree of freedom (DOF) and the degree ofcoupling, and provide its topological analytical formula to represent thetopological information of the PM. Next, we solve the direct and inversekinematic models based on the kinematic modelling principle using thetopological features. The models are purely analytic and are broken down into aseries of quadratic equations, making them suitable for use in an industrialrobot. We also study the singular configurations to identify the serial andparallel singularities. Using the decoupling properties, we size the mechanismto address the package sorting and depositing problem using an algebraicapproach. To determine the smallest segment lengths, we use a cylindricalalgebraic decomposition to solve a system with inequalities.

A new 3-DOF 2T1R parallel mechanism: Topology design and kinematics