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

Ding, Huafeng; Cao, Wen-ao; Cai, Changwang; Kecskeméthy, Andrés

doi:10.1016/j.mechmachtheory.2014.08.013

Cited by 26 publications

(8 citation statements)

References 17 publications

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“…, and 17205 according to the number of high motion pairs, components, four members, three members, and two members [24,25]. The abbreviated topology diagram ignored high-pair and two-degree point is shown in Figure 8.…”

Section: Topological Synthesis For Motion Chainmentioning

confidence: 99%

Topology Optimization Analysis of Separation Mechanism for the Rice Trans-Planter

Chen

et al. 2018

Mathematical Problems in Engineering

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A mechanical topology regeneration design method based on the basic chain was presented which was reducing invalid topology design workload and improving optimization design efficiency. And it is used for configuration topology research of planetary separation mechanism of rice transplanting machine to verify its feasibility and effectiveness, which mainly consists of crank-rockerseparation mechanism, mechanical frame, planet carrier, total input shaft, and seedlings folder, and moving trajectory equation of seedling folder point A for the crank-rocker-separation mechanism is obtained according to the quadrangle vector closure principle. The topological synthesis diagram for motion chain for the CRSM was analysis by means of generalized treatment method based on theoretical optimization conditions and topological regeneration path design. The 6 kinds of topology diagram satisfying the design task for motion chair with high motion pair were obtained and the implemented mechanism diagram of kinematic chair for separation mechanism was designed based on the basic chain topology design method. The results show that topology design for the CRSM is relatively simplified for basic chain structure. And theoretical analysis of motion trajectory for the CRSM is relatively the same as the experimental results in the curve trend and relative error of angular displacement is reasonable and effective through test-rig comparative analysis with motion trajectory of crank-rocker-separation mechanism.

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Section: Topological Synthesis For Motion Chainmentioning

confidence: 99%

Topology Optimization Analysis of Separation Mechanism for the Rice Trans-Planter

Chen

et al. 2018

Mathematical Problems in Engineering

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“…Based on computer-assisted and Lie group, some experts also proposed many 5-DOF parallel mechanisms. For exmple, Ding [14] synthesized some symmetrical and asymmetrical 5-DOF parallel mechanisms by establishing structure databases in a computer; the mechanisms possess large angles. Wang [15] proposed some no singular position of parallel mechanisms by topology design and synthesized a class of novel 5-DOF parallel mechanisms with high rotational capability by designing two AMP.…”

Section: Introductionmentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

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Aerospace represents the development of national science and technology. It is an important foundation for exploring space and an important guarantee for the construction of aerospace power. There are many large workpieces in the aerospace field. The box insulation layer of large workpieces is an important processing problem. A new thick processing equipment is proposed to process the box insulation layer of large workpieces. The thick processing equipment consists of the XYZ shaft long guide rail and five degrees of freedom (5-DOF) RAPA. The mechanical structure of the 5-DOF RAPA is a redundantly actuated parallel mechanism (RAPM). Meanwhile, this paper proposes a new method to design 5-DOF redundantly actuated parallel mechanisms (RAPMs) with large output rotational angles. Based on configuration evolution and Li group, two articulated moving platforms (AMPs) and four kinds of limbs are designed, and a series of 3T2R (T represents translation, R represents rotation) RAPMs and 2T3R RAPMs are synthesized. To verify the designed RAPMs with large angle, an example of RAPMs, 4UPS-{2UPR}-R is analyzed. To ensure that the RAPM has no mechanism vibration impact in movement, this paper represents the RAPM adopts a newly proposed trajectory planning method. The results show that the 4SPU-(2UPR)R mechanism possesses large angles and verifies the efficiency of the new proposed trajectory planning method in simplified trajectories. This work lays the foundation for processing the box insulation layer of large workpieces with straight lines and arcs paths.

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“…•3• Some researchers proposed 5-DOF parallel mechanisms based on Lie group theory and computer-assisted. Ding et al [22] established structure databases in computer and synthesized the 5-DOF parallel mechanisms, this computer-assisted method can design the symmetrical and asymmetrical parallel mechanisms, but it doesn't consider rotational angles of the parallel mechanisms. Wang et al [23] proposed a class of 5-DOF parallel mechanisms (PMs) with properly constrained limb by topology design and analyzed the workspace of the properly constrained limb.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 5-DOF Redundantly Actuated Parallel Mechanisms for Super-Large Components

Jiang

Fang

et al. 2021

Preprint

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Super-large components with complicated surfaces are used for many applications, the processing method of super-large components with complicated surfaces is also problem to be solved. The 5-edgrees of freedom (DOF) redundantly actuated parallel mechanisms (RAPMs) can be used as a movable parallel module in a multi-axis machine center to process super-large components with complicated surfaces. This paper focuses on type synthesis of 5-DOF RAPMs redundantly actuated parallel mechanisms for Super-large components. First, two articulated moving platform and four kinds of limbs are designed based on configuration evolution and Li group theory. By means of the proposed articulated moving platforms and four kinds of limbs, a series of 3T2Rand 2T3R are synthesized. Then, kinematics of the proposed RAPM is analyzed. To ensure the proposed RAPM without impact, a new trajectory planning method combining quadratic function with cosine is proposed and applied to motion simulation. The results show the RAPM not only possesses large output rotational angles, but also verifies the efficiency of the trajectory planning method in motion simulation. The work lays the foundation for solving the processing method of super-large components with complicated surfaces.

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

Cited by 26 publications

References 17 publications

Topology Optimization Analysis of Separation Mechanism for the Rice Trans-Planter

Topology Optimization Analysis of Separation Mechanism for the Rice Trans-Planter

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Type Synthesis of 5-DOF Redundantly Actuated Parallel Mechanisms for Super-Large Components

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