A Family of Symmetrical Lower‐Mobility Parallel Mechanisms with Spherical and Parallel Subchains

Li, Q. C.; Huang, Zhen

doi:10.1002/rob.10088

Cited by 37 publications

(16 citation statements)

References 26 publications

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“…(12), thus the reciprocal screws of the moving platform under the constraint of the rotating pair about Y axis of the first and second branches are expressed as eq. (12). And its reciprocal screw is shown in eq.…”

Section: Realization Conditions Of Rotational Degrees Of Freedom Of Tmentioning

confidence: 99%

“…Fang and Tsai [8] developed a systematic approach for the structural synthesis of a class of 4-DoF and 5-DoF overconstrained parallel manipulators with identical serial limbs. Huang et al [9][10][11][12][13] established a systematic type synthesis theoretical system with constraint screw, and performed comprehensive synthesis of the 3-5-DoF symmetrical parallel mechanisms. Some other scholars presented different types of rotation parallel mechanisms and performed the corresponding analyses [14][15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

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Type synthesis of the rotational decoupled parallel mechanism based on screw theory

Zeng

Huang

2011

Sci. China Technol. Sci.

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With the gradual deepening of study on the parallel mechanism, the difficulty brought by the existence of coupling to the theoretical analysis and practical application of parallel mechanisms is becoming increasingly apparent. The research on the decoupled parallel mechanism is currently one of the hot fields. Though most of the rotational parallel mechanisms, which has been widely used in spatial orientation fields, are not decoupled. It is comparative difficult for the synthesis of fully decoupled rotational parallel mechanisms, and the number of the existing parallel mechanisms which can realize rotational decoupling is limited. In addition, most of the existing rotational decoupled parallel mechanism are obtained depending on the experience of the researcher, and don't possess the general theoretical significance. Based on the screw theory, this paper presents the rotational conditions of the parallel mechanism through the analysis of the relationship between the degree of freedom of the parallel mechanism and its limbs. The synthesis rule of the limbs for decoupled rotational parallel mechanism is established according to the twist screw system of the limbs, which assures the decoupling of the rotations in each limb. The selection principle of the input pairs for the rotation driven limbs is proposed, then the type synthesis method for rotational decoupled parallel mechanisms is formed. With this type synthesis method, synthesis of the rotational decoupled parallel mechanisms is performed, which can provide a reference for the development of the novel type parallel mechanisms with independent intellectual property rights. parallel mechanism, screw theory, rotational decoupling, type synthesis Citation:Zeng D X, Huang Z. Type synthesis of the rotational decoupled parallel mechanism based on screw theory.

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Section: Realization Conditions Of Rotational Degrees Of Freedom Of Tmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Type synthesis of the rotational decoupled parallel mechanism based on screw theory

Zeng

Huang

2011

Sci. China Technol. Sci.

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“…The six degree-of-freedom (dof) Gough-Stewart platform is one example with many applications like flight simulation, rehabilitation and machining. Besides, lower mobility PMs, i.e., PMs with less than six dof, have gained a lot of attention as six actuators are not required for many applications [5]. Amongst them, the 3-dof mechanisms have been the focus of research for many interesting applications.…”

Section: Introductionmentioning

confidence: 99%

Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Nayak

Caro

Wenger

2018

Mechanism and Machine Theory

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The choice of a parallel manipulator for a particular application is a challenging task due to the existence of numerous designs that generate the same motion type. Hence, this paper attempts to compare a class of 3 degreeof-freedom parallel manipulators belonging to the 3-[PP]S family, for which each leg is confined to move in a plane with the first two joints generating a motion equivalent to two coplanar translations. Specifically, the 3-[PP]S parallel manipulators in which the planes are arranged in a Y-pattern are considered and are compared with respect to their singularity-free orientation workspace, parasitic motions within that workspace and complexity indices. Moreover, the comparison is done between the 3-[PP]S-Y family of manipulators for their different operation modes, with different actuation schemes and for different sets of design parameters. Two indices are used to quantify the singularityfree workspace and the parasitic motions of the manipulators at hand. Additionally, the non-dominated manipulator architectures with regard to their singularity-free regions and parasitic motions are highlighted thanks to a Pareto front. Finally, the Pareto-optimal solutions are ranked in ascending order of complexity.

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“…Over the years, there were two well-established methods for topological structure synthesis of parallel mechanisms, i.e., the screw theory based method [1][2][3][4][5][6][7][8][9][10][11][12][13] and the displacement subgroup based method [14][15][16][17][18][19][20][21][22][23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

On the Correctness and Strictness of the Position and Orientation Characteristic Equation for Topological Structure Design of Robot Mechanisms

Yang

Liu

Shen

et al. 2013

Journal of Mechanisms and Robotics

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Position and orientation characteristic (POC) equations for topological structure synthesis of serial and parallel mechanisms were proposed in a published paper by the authors. This paper will further prove the correctness and strictness of the theoretical foundation for POC equations and also be a reply to the reviewers of our follow-up papers. The main contents of this paper include: symbolic representation of mechanism topological structure and its invariance, velocity characteristic (VC) set and POC set of link and its invariance, one-to-one correspondence between elements of the VC set and POC set, POC equations for the serial mechanism and 10 corresponding "union" operation rules, and POC equations for the parallel mechanism and 14 corresponding "intersection" operation rules. In addition, the interrelations and differences among three methods (POC set based method, screw theory based method, and displacement subgroup based method) for mechanism topological structure design are concluded.

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A Family of Symmetrical Lower‐Mobility Parallel Mechanisms with Spherical and Parallel Subchains

Cited by 37 publications

References 26 publications

Type synthesis of the rotational decoupled parallel mechanism based on screw theory

Type synthesis of the rotational decoupled parallel mechanism based on screw theory

Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

On the Correctness and Strictness of the Position and Orientation Characteristic Equation for Topological Structure Design of Robot Mechanisms

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