Type Synthesis of Symmetrical Lower-mobility Parallel Mechanisms Using the Constraint-synthesis Method  

Oleh:

Huang, Z. ; Li, Q.C.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 22 no. 1 (Jan. 2003), page 59-79.
Topik: parallel mechanisms; mobility analysis; design theory; type synthesis
Fulltext: 59.pdf (719.72KB)

Isi artikel

The lower-mobility parallel mechanism (PM) has fewer than six degrees of freedom (DoFs) and requires fewer links, joints and actuators than its 6-DoF counterpart. Hence, the use of the lower-mobility PMmay save much cost in those applications requiring less mobility. In this paper, the type synthesis of symmetrical lower-mobility PMs is performed systematically using the constraint-synthesis method. First, some important theoretical fundamentals of type synthesis of lower-mobility PMs are investigated, including a classification of symmetry of lower-mobility PMs, the identification of instantaneous mechanisms and input selection method. Moreover, the difficult problem of how to correctly apply the general Grübler-Kutzbach criterion to lower-mobility PMs is solved. A mobility analysis of PMs with a closed loop in the limbs is also presented to demonstrate the validity. The type synthesis of 5-DoF and 4-DoF PMs is then dealt with in detail. Enumerations of novel 5-DoF and 4-DoF PMs are presented. The characteristics of constraint and structure of 5-DoF and 4-DoF PMs are also proposed. In addition, some novel 3-DoF PMs are presented.

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