This paper focuses on the kinematic design issues for a three degrees-of-freedom (DOFs), i.e., two-rotational and one-translational (2R1T) end-effector to perform continuous contact operations, such as deburring, grinding, and polishing. The proposed end-effector design employs a 3-legged prismaticprismatic-spherical (3-PPS) parallel mechanism due to its desired kinematic characteristics and dynamic behavior. As the 3-PPS parallel mechanism is featured with zero-torsion motion characteristic, the orientation of its moving platform can be always represented by a rotation about an axis parallel to its base platform plane. Through analysis of the rotation matrix of the moving platform, closed-form linear solutions for both forward and inverse displacement analyses are readily derived. Other critical design issues, such as passive prismatic joint displacement, parasitic motion, velocity, and singularity analyses, are addressed. For a specific dimension design of the 3-PPS parallel mechanism, the workspace analysis indicates that the proposed design can achieve a singularity-free ±12 • × ±12 • × 25 mm workspace. Furthermore, as the displacements of the passive prismatic joints are within 2.63 mm, lightweight flexure-based prismatic joints are designed to replace the conventional heavy linear guides. The flexure-rigid structure of the 3-DOF 2R1T end-effector significantly improves the dynamic performance of the system. A prototype of the 3-DOF 2R1T robotic end-effector is designed and fabricated to verify the proposed design. INDEX TERMS Kinematic design, 3-DOF 2R1T parallel mechanism, robotic end-effector, flexure joints.

The Free-piston linear generator (FPLG) is a novel energy converter which can generate electrical energy and is regarded as a potential technology for solving the restriction of the short driving range of electric vehicles. Getting rid of the crank and flywheel mechanism, FPLG obtains some advantages of a variable compression ratio, compact size, and highly-efficient power generation. Linear electric machine (LEM) design and piston motion control are two key technologies of FPLG. However, they are currently the main obstacles to the favorable performance of FPLG. LEM being used to drive the piston motion or generate electric energy is an integrated design including a motor/generator. Various types of LEMs are investigated, and suitable application scenarios based on advantages and disadvantages are discussed. The FPLG's controller is used to ensure stable operation and highly-efficient output. However, cycle-to-cycle variations of the combustion process and motor/generator switching make it difficult to improve the performance of the piston motion control. Comments on the advantages and disadvantages of different piston motion control methods are also given in this paper.The piston moves freely between TDC and bottom dead center (BDC), and its motion is determined by the resultant force that is acting upon it, including gas pressure force, electro-magnetic force, and rebound force [8][9][10]. The piston motion must be controlled by an electronic control system-an electronic crankshaft, which is an integrated control of combustion parameters or control variables of the LEM and rebound devices [5]. Moreover, there are cycle-to-cycle variations and periodic large disturbances during the combustion process. As a result, piston motion control is still the biggest challenge of FPLG [11]. Besides, LEM is not only used as a power output unit but also a control unit for adjusting the movement of the piston. For the FPLG, LEM requires high reliability, high precision, high efficiency, and so on. Various structures of LEM designed by many teams around the world have been investigated, but none of these meet all of the requirements due to the short stroke, high frequency, and high acceleration.In order to lucubrate the current existing problems, this paper reviews the key technologies of LEM design and FPLG motion control. Firstly, several basic structures of FPLG are introduced, and both their advantages and disadvantages are analyzed. Afterwards, according to the different types of structure, corresponding advantages and disadvantages of LEMs are presented. With respect to the existing LEMs, they are classified according to the different flux path and topology structures in the third section. Finally, different starting methods are introduced based on the FPLG's structure. In terms of power generation stage, piston motion control strategies are divided into three forms and introduced based on their control variables. They include three categories: active combustion parameters control, active LEM control, and the mixed cont...