Computer-aided structural synthesis of 5-DOF parallel mechanisms and the establishment of kinematic structure databases

2015 ◽  
Vol 83 ◽  
pp. 14-30 ◽  
Author(s):  
Huafeng Ding ◽  
Wenao Cao ◽  
Changwang Cai ◽  
Andrés Kecskeméthy
Keyword(s):  
Kinematic Structure ◽  
Parallel Mechanisms ◽  
Structural Synthesis ◽  
Computer Aided ◽  
Structure Databases

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.

An Application of Boolean Algebra to the Motion of Epicyclic Drives

1971 ◽  
Vol 93 (1) ◽  
pp. 176-182 ◽  
Author(s):  
F. Freudenstein
Keyword(s):  
Boolean Algebra ◽  
Dynamic Analysis ◽  
Graph Representation ◽  
Kinematic Structure ◽  
Computer Aided ◽  
Canonical Graph

The kinematic structure of epicyclic drives has been investigated with the aid of Boolean algebra. The correspondence between the graph representation of the structure, the mechanism, and the form of the displacement equations has been derived. A canonical graph representation has been given. A method, believed to be novel, is described for the determination of the algebraic displacement equations by inspection, directly from the kinematic structure. The theory can be applied similarly to dynamic analysis and computer-aided sketching and animation.

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.

A framework for computer-aided type synthesis of parallel robotic mechanisms

2014 ◽  
Vol 228 (18) ◽  
pp. 3496-3504 ◽  
Author(s):  
Xiangdun Meng ◽  
Feng Gao
Keyword(s):  
Design Method ◽  
Software Tool ◽  
Learning Ability ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Design Cycle ◽  
Computer Aided ◽  
Number Synthesis ◽  
Sets Theory ◽  
First Time

In this paper, a framework for computer-aided type synthesis of parallel mechanisms (PMs) is described and the integrated type synthesis software based on the GF sets theory is developed for the first time. The objective of the software was to automate and facilitate type synthesis of PMs. The GF sets theory introduced in our earlier works is an effective type synthesis approach with high execution level. This approach is implemented in a software tool. Algorithms for number synthesis of PMs, decomposition of GF sets, and limbs design method are developed. The computer-aided type synthesis software shows intelligence and self-learning ability of a certain level. Guided by the software, users can complete type synthesis of PMs smoothly with some complex calculations done by the software. The validity of the proposed software is verified through a design example. The design cycle and cost of machinery products using PMs will be reduced with help of the software.

Sign in / Sign up

Export Citation Format

Share Document