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

翻译：本文提出了一种基于位置和方向特性（POC）并联机构拓扑设计理论的新型三自由度（3-DOF）并联机构（PM），该机构具有两个平移自由度和一个旋转自由度（2T1R）。该PM主要应用于包裹分拣与传送。其移动平台沿平移轴运动，从传送带上抓取物体，并向轴两侧倾斜。我们首先计算了PM的拓扑特性，例如自由度（DOF）和耦合度，并给出了其拓扑解析公式以表示PM的拓扑信息。接下来，基于拓扑特征的运动学建模原理，我们求解了正、逆运动学模型。这些模型是纯解析的，并分解为一系列二次方程，适用于工业机器人。我们还研究了奇异位形，以识别串联奇异和并联奇异。利用解耦特性，我们采用代数方法对机构进行尺度综合，以解决包裹分拣与投放问题。为确定最小杆长，我们使用柱形代数分解法求解含不等式系统。