Type Synthesis of Mechanism with Variable Rotation Axes

2020 ◽  
pp. 183-208
Author(s):  
Tao Sun ◽  
Shuofei Yang ◽  
Binbin Lian
Keyword(s):  
Type Synthesis ◽  
Rotation Axes ◽  
Synthesis Of Mechanism

Autogenerating/Drawing Valid Arrays and Contracted Graphs With Pentagonal Links for Type Synthesis of Mechanism by Computer Aided Design

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Yi Lu ◽  
Hui Huang ◽  
Yang Lu ◽  
Nijia Ye
Keyword(s):  
Computer Aided Design ◽  
Visual Basic ◽  
Type Synthesis ◽  
Computer Aided ◽  
Aided Design ◽  
New Criteria ◽  
Synthesis Of Mechanism

A method for autogeneration/draw of valid arrays and contracted graphs by cad is studied in this paper. First, the concepts and relative new criteria of arrays and contracted graphs (CGs) are explained for the representation/generation of the CGs and the identification of the isomorphic/invalid CGs using the arrays. Second, a software is created in Visual Basic for automatically generating the arrays of the CGs with pentagonal links, identifying the isomorphic/invalid arrays, generating the valid arrays, and automatically drawing their CGs. Third, the interface of the software and the main functions of the compiled programs are explained. Finally, some examples are given to illustrate this software and method.

Arrangement Of Monomeric Units In Fibrin

1979 ◽  
Author(s):  
Jan Hermans
Keyword(s):  
Fiber Axis ◽  
High Symmetry ◽  
Linear Polymers ◽  
Fiber Volume ◽  
High Fiber ◽  
Rotation Axes ◽  
Small Set ◽  
Helical Turn ◽  
The One ◽  
Kinetics Of

Measurements of light scattering have given much information about formation and properties of fibrin. These studies have determined mass-length ratio of linear polymers (protofibrils) and of fibers, kinetics of polymerization and of lateral association and volume-mass ratio of thick fibers. This ratio is 5 to 1. On the one hand, this high value suggests that the fiber contains channels that allow the diffusion of enzymes such as Factor XHIa and plasmin; on the other hand, the high value appears paradoxical for a stiff fiber made up of elongated units (fibrin monomers) arranged in parallel. Such a high fiber volume is a property of only a small set out of many high-symmetry models of fibrin, which may be constructed from overlapping three-domain monomers which are arranged into strands, are aligned nearly parallel to the fiber axis and make adequate longitudinal and lateral contacts. These models contain helical protofibrils related to each other by rotation axes parallel to the fiber axis. The protofibrils may contain 2, 3 or 4 monomers per helical turn and there are four possible symmetries. A large specific volume is achieved if the ends of each monomer are slightly displaced from the protofibril axis, either by a shift or by a tilt of the monomer. The fiber containing tilted monomers is more highly interconnected; the two ends of a tilted monomer form lateral contacts with different adjacent protofibrils, whereas the two ends of a non-tilted monomer contact the same adjacent protofibril(s).

scholarly journals Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Real Time Control ◽  
Time Control ◽  
Topological Characteristics ◽  
Zero Coupling

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

scholarly journals A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Yongquan Li ◽  
Yang Zhang ◽  
Lijie Zhang
Keyword(s):  
Closed Loop ◽  
Screw Theory ◽  
Line Graph ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Allocation Criteria ◽  
Grassmann Line Geometry ◽  
Moving Platform ◽  
Atlas Method

Abstract The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multiple getting intersection and union to complete type synthesis. The number of redundant parallel mechanisms obtained by these two methods is limited. In this paper, based on Grassmann line geometry and Atlas method, a novel and effective method for type synthesis of redundant actuated parallel mechanisms (PMs) with closed-loop units is proposed. Firstly, the degree of freedom (DOF) and constraint line graph of the moving platform are determined successively, and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph, and a branch constraint allocation scheme is formulated based on the allocation criteria. Secondly, a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units. Finally, the branch chains that meet the requirements of branch chains configuration criteria and F&C (degree of freedom & constraint) line graph are assembled. In this paper, two types of 2 rotational and 1 translational (2R1T) redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational (2T1R) redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples, and 238, 92 and 15 new configurations were synthesized. All the mechanisms contain closed-loop units, and the mechanisms and the actuators both have good symmetry. Therefore, all the mechanisms have excellent comprehensive performance, in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled. The instantaneous analysis shows that all mechanisms are not instantaneous, which proves the feasibility and practicability of the method.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

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