Criteria for Conceptual Design of Reconfigurable PKM Modules--Theory and Application

Huang, Tian; Li, Meng; Wu, Mengli; Mei, Jianping; Zhao, Xin; Hu, S. Jack

doi:10.3901/jme.2005.08.036

Cited by 23 publications

(17 citation statements)

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“…It is well known that the existing parallel kinematic machines (PKM) having fewer than six degrees of freedom (DOF) can be classified into two categories associated with the number and type of DOF of the limbs [1]. One class includes the PKM essentially composed of a number of identical constrained active limbs having fewer than six DOF (Delta [2], Sprint-Z3 Head [3], for example).…”

Section: Introductionmentioning

confidence: 99%

Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Liu

Huang

Zhao

et al. 2007

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Liu

Huang

Zhao

et al. 2007

Mechanism and Machine Theory

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“…a proper-constraint limb, a deficient-1) The geometric condition required is especially important for the rotation group and its subsets. For instance, constraint limb, and a non-constraint limb [53]. If constraints applied by the limb are identical to those of the moving platform, the limb is referred as a proper-constraint one; in this case, CDM of the moving platform is equivalent to that of limb.…”

mentioning

confidence: 99%

Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration

Dai

et al. 2010

Sci. China Technol. Sci.

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Type synthesis of lower-mobility parallel mechanisms (PMs) has drawn extensive interests, particularly two main approaches were established by using the reciprocal screw system theory and Lie group theory, respectively. Although every above approach provides a universal framework for structural design of general lower-mobility PMs, type synthesis is still a comparably difficult task for the PMs with particular geometry or required to fulfill some specified tasks. This paper aims at exploring a simple and effective synthesis method for lower-mobility parallel mechanisms with orthogonal arrangement (OPMs), and the applied mathematical tool is established in the displacement group theory. For this purpose, the concept of the Cartesian DOF-characteristic matrix, originated from canonical displacement subgroup and displacement submanifold, is proposed. A new approach based on combination of the atlas of Cartesian DOF-characteristic matrix and displacement group-theoretic method is addressed for both exhaustive classification and type synthesis of OPMs. Type synthesis for some representatives of 3-DOF OPMs verifies effectiveness of the proposed approach. parallel mechanism, type synthesis, degree of freedom, displacement group Citation:Yu J J, Dai J S, Bi S S, et al. Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration.

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“…parallel kinematic machine, inverse dynamics, servomotor parameters From numerous parallel kinematic machines (PKM), a family of PKM with fewer than 6 degrees of freedom (DOF) can be classified which is basically composed of a properly constrained active/passive limb and several identical unconstrained active limbs with 6-DOFs [1] , such as the SKM [2] and CGT machine [3] . If the properly constrained limb undergoes a fixed point rotation about two orthogonal axes and a translation along its axial axis, this family of PKM can be further divided into a sub-family named spherical coordinate parallel mechanism (SCPM) [4] .…”

mentioning

confidence: 99%

Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism

Liu

Mei

Zhao

et al. 2008

Sci. China Ser. E-Technol. Sci.

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A novel reconfigurable 5-DOF hybrid manipulator-TriVariant-B is composed of a 2-DOF spherical parallel mechanism which is serially connected with a 3-DOF open-loop kinematic chain undergoing one translation and two rotations by a prismatic joint. The merit of this design is that a relatively large workspace/limbstroke ratio can be achieved thanks to the decomposition of the fixed point rotation and the relative translation. In this paper, on the basis of inverse dynamic formulation of the 2-DOF spherical parallel mechanism, an approach is proposed for estimating the servomotor parameters including moment of inertia, rated speed and the maximum torque in a quick manner. The approach has been employed for the development of a prototype for frame cutting process.parallel kinematic machine, inverse dynamics, servomotor parameters From numerous parallel kinematic machines (PKM), a family of PKM with fewer than 6 degrees of freedom (DOF) can be classified which is basically composed of a properly constrained active/passive limb and several identical unconstrained active limbs with 6-DOFs [1] , such as the SKM [2] and CGT machine [3] . If the properly constrained limb undergoes a fixed point rotation about two orthogonal axes and a translation along its axial axis, this family of PKM can be further divided into a sub-family named spherical coordinate parallel mechanism (SCPM) [4] . Tricept [5][6][7][8] , Gorge V [9] and TriVariant [10][11][12] are typical examples in this sub-family. The most significant feature of the SCPM is the large workspace/footprint ratio. Thus, by attaching a 2-or 3-DOF rotating head to the platform, a plug-and-play hybrid module can be formed, which can be used to configure different machines for various applications. Nevertheless, for the in-parallel SCPM, to achieve a relative large workspace requires the unconstrained limbs to have relative

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Criteria for Conceptual Design of Reconfigurable PKM Modules--Theory and Application

Cited by 23 publications

References 0 publications

Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance

Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration

Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism

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