Structural Synthesis of a Class of Metamorphic Parallel Mechanisms with Variable Mobility

2012 ◽  
pp. 119-126 ◽  
Author(s):  
Wei Ye ◽  
Yuefa Fang ◽  
Sheng Guo
Keyword(s):  
Parallel Mechanisms ◽  
Structural Synthesis

Mobility analysis and structural synthesis of a class of spatial mechanisms with coupling chains

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2467-2485 ◽  
Author(s):  
Wen-ao Cao ◽  
Huafeng Ding ◽  
Ziming Chen ◽  
Shipei Zhao
Keyword(s):  
Structural Analysis ◽  
Parallel Mechanisms ◽  
Mobility Analysis ◽  
Structural Synthesis ◽  
Systematic Method ◽  
General Methodology ◽  
Spatial Mechanisms ◽  
Analysis And Synthesis

SUMMARYThis paper presents a systematic method for dealing with mobility analysis and structural synthesis of a class of important spatial mechanisms with coupling chains, which involve more complex coupling relations than spatial parallel mechanisms. First, an approach to the establishment of the motion screw equation of the class of mechanisms is derived. Then, a general methodology for mobility analysis along with detection of rigid substructures is proposed based on the motion screw equation. Third, the principle of structural synthesis of the class of mechanisms is established on the basis of the method of mobility analysis. Finally, some novel spatial mechanisms with coupling chains are synthesized, illustrating the effectiveness of the method. The study of the paper will benefit structural analysis and synthesis of more complex spatial mechanisms with coupling chains.

Parallel mechanisms with decoupled rotation of the moving platform in planar motion

2009 ◽  
Vol 224 (3) ◽  
pp. 709-720 ◽  
Author(s):  
G Gogu
Keyword(s):  
Translational Motion ◽  
Planar Motion ◽  
Parallel Mechanisms ◽  
Structural Synthesis ◽  
Linear Transformations ◽  
New Family ◽  
Current Article ◽  
Moving Platform ◽  
First Time

The current article presents a new family of T2R1-type spatial parallel mechanisms (PMs) with decoupled and unlimited rotation of the moving platform in planar motion. The moving platform performs two independent translations (T2) and one independent unlimited rotation (R1) whose axis is perpendicular to the plane of translations. A method is proposed for structural synthesis of T2R1-type PMs based on the theory of linear transformations. The moving platform has unlimited rotational capabilities and is decoupled with respect to translational motion. To the best of the author's knowledge, this article presents for the first time solutions of T2R1-type spatial PMs with decoupled and unlimited rotation of the moving platform in planar motion.

Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms

2008 ◽  
Vol 131 (2) ◽  
Author(s):  
Ting-Li Yang ◽  
An-Xin Liu ◽  
Qiong Jin ◽  
Yu-Feng Luo ◽  
Hui-Ping Shen ◽  
...  
Keyword(s):  
Topological Structure ◽  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Structural Synthesis ◽  
Geometrical Meaning ◽  
Single Loop ◽  
Operation Rules ◽  
The Matrix ◽  
Position And Orientation ◽  
Symbolic Operation

This paper presents the explicit mapping relations between topological structure and position and orientation characteristic (POC) of mechanism motion output. It deals with (1) the symbolic representation and the invariant property of the topological structure of the mechanism, (2) the matrix representation of POC of mechanism motion output, and (3) the POC equations of serial and parallel mechanisms and the corresponding symbolic operation rules. The symbolic operation involves simple mathematic tools and fewer operation rules and has clear geometrical meaning, so it is easy to use. The POC equations cannot only be used for structural analysis of the mechanism (such as determining POC of the relative motion between any two links of a mechanism and the rank of single-loop kinematic chain and calculating the full-cycle DOF of a mechanism, etc.) but can be used for structural synthesis of the mechanism as well (e.g., structural synthesis of the rank-degenerated serial mechanism, the over constrained single-loop mechanism, and the rank-degenerated parallel mechanism, etc.).

scholarly journals STRUCTURAL SYNTHESIS OF PARALLEL MECHANISMS THAT PROVIDE PLANE-PARALLEL MOTION OF THE OUTPUT LINK BASED ON THE THEORY OF SCREWS AND VIRTUAL KINEMATIC CHAINS

2016 ◽  
Vol 2 (1) ◽  
pp. 185-194
Author(s):  
Гапоненко ◽  
Elena Gaponenko ◽  
Рыбак ◽  
Larisa Rybak ◽  
Малышев ◽  
...  
Keyword(s):  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Structural Synthesis ◽  
Output Link ◽  
Kinematic Chains ◽  
Plane Parallel ◽  
Parallel Movement ◽  
Parallel Motion ◽  
Movable Platform ◽  
Virtual Circuits

This article describes the method of structural synthesis of a class of parallel mechanisms that provide plane-parallel movement of the movable platform. The considered method is based on the theory of screws and the concept of virtual circuits. We obtain the structure of parallel mechanisms, containing three connecting kinematic chain.

Sign in / Sign up

Export Citation Format

Share Document