Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial Robots

2021 ◽  
Author(s):  
Lizhe Qi ◽  
Yu Shan ◽  
Jie Zhang ◽  
Yanzhi Zhao ◽  
Erwei Li ◽  
...  
Keyword(s):  
Synthesis Method ◽  
Type Synthesis ◽  
Serial Robots

Method for the Creation of a Six Bar Linkage to Simultaneously Carry Two Rigid Bodies Through Four Coordinated Positions

2012 ◽  
Author(s):  
Ronald A. Zimmerman
Keyword(s):  
Synthesis Method ◽  
Rigid Bodies ◽  
Type Synthesis ◽  
Linkage Mechanism ◽  
Center Point ◽  
Seat Cushion ◽  
The Creation ◽  
Linkage Synthesis

A method for the creation of a six bar linkage with two ground pivots to simultaneously carry two rigid bodies through four coordinated positions was invented and is described and illustrated herein. Type synthesis was used to identify possible linkage classes and specific types of possible six bar linkages. A linkage synthesis method which superimposes three Burmester center point curves to create a six bar linkage mechanism with two ground pivots, to carry two coupled rigid bodies simultaneously through four specified, coordinated positions was developed and is demonstrated. An extension of the method to carry two non-coupled rigid bodies through four positions is indicated. This method was invented in the process of developing a 2nd row automotive truck seat, which is used as an example to illustrate the procedure. A six bar linkage which carries an automotive truck seat back and seat cushion through four coordinated positions is shown.

Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Atlas of DOF Characteristic Matrix

2006 ◽  
Author(s):  
Jingjun Yu ◽  
Jian S. Dai ◽  
Xin-Jun Liu ◽  
Shusheng Bi ◽  
Guanghua Zong
Keyword(s):  
System Theory ◽  
Lie Group ◽  
Synthesis Method ◽  
Parallel Manipulators ◽  
Complete Classification ◽  
Characteristic Matrix ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Low Degree ◽  
New Type

Low-degree-of-freedom (Low-DOF) parallel manipulators (PMs) have drawn extensive interest, particularly in type synthesis in which two main approaches were established in the reciprocal screw system theory and Lie group theory. This paper aims at proposing a new type synthesis method to complementing the above methods. For this purpose, the concept of the DOF characteristic matrix, originated from displacement subgroup and displacement submanifold, is proposed. A new but general approach based on the atlas of DOF Characteristic Matrix is addressed for both exhaustive classification and type synthesis of low-DOF PMs. Compared to the method based on Lie group, the proposed approach is prone to construct an orthogonal structure and easy to realize the complete classification and exhaustive enumeration of a class of low-DOF PM. In order to verify the effectiveness of the proposed method, type synthesis of Translational PMs (TPMs) particularly in ones with an orthogonal structure is performed, resulting in some novel orthogonal TPMs.

Type Synthesis and Application of Gear Linkage Transplanting Mechanisms Based on Graph Theory

2019 ◽  
Vol 62 (2) ◽  
pp. 515-528
Author(s):  
Liang Sun ◽  
Yuzhu Zhou ◽  
Xuan Chen ◽  
Chuanyu Wu
Keyword(s):  
Graph Theory ◽  
Structural Characteristics ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Gear Train ◽  
Type Synthesis ◽  
Linkage Mechanism ◽  
Topological Graph ◽  
Labeled Graphs ◽  
Motion Characteristics

Abstract. Type synthesis is an important step when designing innovations in mechanisms. To overcome the limitation of traditional gear train transplanting mechanisms in realizing a specific trajectory, a swinging linkage mechanism is introduced into the design of the transplanting mechanism. To design a crop-transplanting gear linkage mechanism (GLM), an automatic synthesis method based on graph theory is proposed in this article. First, the numbers of loops, links, joints and other parameters, along with unlabeled graphs, are calculated based on the structural characteristics of the GLM. The labeled graphs that correspond to the kinematic chain (KC) are then obtained by thickening the edges of the unlabeled graphs, and physically reasonable labeled graphs are derived from identification of the structural rationality of the corresponding structures. Based on the relative motion characteristics of the input and output links of the transplanting mechanisms, criteria for screening the gear linkage mechanisms represented by the labeled graphs are formulated, and the labeled graphs that are suitable for transplanting are calculated to enrich the configurations of the transplanting mechanisms. Finally, two examples are tested to verify the effectiveness of the proposed type synthesis method. Keywords: Gear linkage, Screening, Topological graph, Transplanting mechanism, Type synthesis.

Automated Type and Modular Dimensional Synthesis of Planar Linkages

2010 ◽  
Author(s):  
Marti´n A. Pucheta ◽  
Alberto Cardona
Keyword(s):  
Synthesis Method ◽  
Path Following ◽  
Graph Representation ◽  
Dimensional Synthesis ◽  
Type Synthesis ◽  
Automated Method ◽  
Initial Graph ◽  
Closed Chain ◽  
Planar Linkages ◽  
Synthesis Stage

We present an automated method for type and dimensional synthesis of planar linkage mechanisms. In the kinematic problem, a graph representation called initial graph is given to the parts to move. The type synthesis stage consists of an exhaustive subgraph search of the initial graph inside the graphs taken from a previously enumerated atlas of mechanisms. Each alternative resulting from the type synthesis is dimensioned using the Precision Position Method and Genetic Algorithms: the closed-chain topology is decomposed into single-open chains of two and three links programmed as dyad and triad modules; these modules are executed to compute all the significant dimensions of the linkage. Using this type and dimensional synthesis method, a fast generation and evaluation of many mechanisms can be done in few minutes using a desktop personal computer. The enumeration of mechanisms for a path following task, including eight-bar solutions, illustrates the whole design process.

scholarly journals Type Synthesis of Two DOF Hybrid Translational Parallel Manipulators

2016 ◽  
Vol 836 ◽  
pp. 48-53 ◽  
Author(s):  
Latifah Nurahmi ◽  
Stéphane Caro
Keyword(s):  
Screw Theory ◽  
Synthesis Method ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Type Synthesis ◽  
In Series ◽  
Actuation Scheme ◽  
Two Degree Of Freedom

This paper introduces a methodology for the type synthesis of two degree-of-freedom hybrid translational manipulators with identical legs. The type synthesis method is based upon the screw theory. Three types of two degree-of-freedom hybrid translational manipulators with identical legs are identified based upon their wrench decomposition. Each leg of the manipulators is composed of a proximal module and a distal module mounted in series. The assembly conditions and the validity of the actuation scheme are also defined. Eventually, some novel two degree-of-freedom hybrid translational manipulators are synthesized with the proposed procedure.

Type Synthesis of a Family of 4-, 5- and 6-DOF Sea Lion Ball Mechanisms With Three Limbs

2015 ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Feng Gao
Keyword(s):  
Synthesis Method ◽  
Lower Limbs ◽  
The Novel ◽  
Type Synthesis ◽  
Sea Lion ◽  
End Effector ◽  
Motion Patterns ◽  
In Series ◽  
Rotational Motions ◽  
Sets Theory

In this paper, a family of novel mechanisms with three limbs is proposed. The novel family of mechanisms looks like a sea lion playing a ball therefore we called it the sea lion ball mechanism (SLBM). Its characteristics are described in detail below. The SLBM is composed of an upper part and a lower part connected together by three limbs in series. One of the most important advantages of SLBMs is that the translational and rotational motions are partially decoupled: the end-effector position is only determined by the inputs of the lower part, while the rotational angles are mainly determined by the inputs of the upper part. Then, the procedures for the type synthesis of SLBMs with three limbs are proposed based on the GF sets theory and the concept of virtual chain. Furthermore, according to the proposed procedure, 4-, 5- and 6-DOF SLBMs are investigated in terms of type synthesis based on a concept of upper-lower combination. The synthesis method of the upper limbs and lower limbs are presented. The PR and Pa joints are introduced to realize the functions of R and P joints to achieve more mechanisms. The six types kinematic limbs with 3T3R, 3T2R, 2T3R, 3T1R, 2T2R and 1T3R motion patterns of SLBMs are designed. Lastly, several novel 4-, 5- and 6-DOF SLBMs are proposed and sketched. The concept of the upper-lower combination may provide a new idea for type synthesis of decoupled parallel mechanism.

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