General Method for Topology Design of Parallel Mechanisms

Yang, Ting-Li; Liu, Anxin; Shen, Huiping; Hang, Lubin; Luo, Yanhong; Jin, Qiong‐Hua

doi:10.1007/978-981-10-5532-4_9

Cited by 3 publications

(9 citation statements)

References 32 publications

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“…A general DOF formula based on motion analysis is given as follows, from which one can obtain a full-cycle DOF instead of an instantaneous DOF of a mechanism. 8,11 Fig . 3.…”

Section: Dofmentioning

confidence: 99%

“…According to the mechanism composition principle based on the SOCs, 7,8 any kinematic chain can be decomposed into…”

Section: Types and Number Of An Akcmentioning

confidence: 99%

“…7, we know that an AKC can be decomposed into several SOCs in various ways. Then, the coupling degree k of an AKC is defined as 6,8…”

Section: Types and Number Of An Akcmentioning

confidence: 99%

“…These are based on screw theory, 1, 2 displacement subgroups, 3 linear transformations 4 and the position and orientation characteristics (POC) method. [5][6][7][8] A large number of PMs have been synthesized using these methods. However, only very few PMs such as the Delta, Tricept, Exechon, Z3, H4 and the Gough-Stewart manipulator are used by industry.…”

Section: Introductionmentioning

confidence: 99%

“…Yang and his group members have established a new methodology for the topological structure design of PMs based on the POC equations, [5][6][7][8] the so-called POC method. The methodology includes three basic concepts (dimension constraint types, POC sets and ordered single-open-chain (SOC) units), one mechanism composition principle based on SOC units, four basic formulae (POC union equation for serial mechanisms, POC intersection equation for PMs, general DOF formula and coupling degree formula) and a procedure for type synthesis.…”

Section: Introductionmentioning

confidence: 99%

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Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Shen¹,

Yang²,

Li³

et al. 2019

Robotica

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SUMMARYThe topological structure of a parallel manipulator (PM) determines its intrinsic topological properties (TPs). The TPs further determine essential kinematic and dynamic properties of the mechanism. TPs can be expressed through topological characteristics indexes (TCI). Therefore, defining a set of TCIs is an important issue to evaluate the TPs of PMs. This article addresses the evaluation of topological properties (ETP) of PMs based on TCI. A general and effective ETP method for PMs is proposed. Firstly, 12 TCIs are proposed, including 8 quantitative TCIs, that is, position and orientation characteristics sets (POC), dimension of the POC set, degrees of freedom (DOF), number of independent displacement equations, types and number of an Assur kinematic chain (AKC), coupling degrees of the AKCs, degrees of redundancy and the number of overs; as well as 4 qualitative TCIs, that is, selection of actuated joints, identification of inactive joints, DOF type and Input–Output motion decoupling. Secondly, the ETP method is illustrated by evaluating some well-known PMs including the Delta, Tricept, Exechon, Z3, H4 and the Gough–Stewart platform manipulators, as well as 28 other typical PMs. Via the ETP analysis of these mechanisms also some valuable design knowledge is derived and guidelines for the design of PMs are established. Finally, a 5-DOF decoupled hybrid spraying robot is developed by applying the design knowledge and the design guidelines derived from the ETP analysis.

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“…A general DOF formula based on motion analysis is given as follows, from which one can obtain a full-cycle DOF instead of an instantaneous DOF of a mechanism. 8,11 Fig . 3.…”

Section: Dofmentioning

confidence: 99%

“…According to the mechanism composition principle based on the SOCs, 7,8 any kinematic chain can be decomposed into…”

Section: Types and Number Of An Akcmentioning

confidence: 99%

“…7, we know that an AKC can be decomposed into several SOCs in various ways. Then, the coupling degree k of an AKC is defined as 6,8…”

Section: Types and Number Of An Akcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Shen¹,

Yang²,

Li³

et al. 2019

Robotica

Self Cite

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A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

Huiping,

Du,

Chablat

et al. 2023

Volume 8: 47th Mechanisms and Robotics Conference (MR)

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This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily intended for use in package sorting and delivery. The mobile platform of the PM moves along a translation axis, picks up objects from a conveyor belt, and tilts them to either side of the axis. We first calculate the PM’s topological characteristics, such as the degree of freedom (DOF) and the degree of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series of quadratic equations, making them suitable for use in an industrial robot. We also study the singular configurations to identify the serial and parallel singularities. Using the decoupling properties, we size the mechanism to address the package sorting and depositing problem using an algebraic approach. To determine the smallest segment lengths, we use a cylindrical algebraic decomposition to solve a system with inequalities.

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An Innovative Optimization Design Procedure for Mechatronic Systems with a Multi-Criteria Formulation

2021

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This paper presents an innovative Mechatronic Concurrent Design procedure to address multidisciplinary issues in Mechatronics systems that can concurrently include traditional and new aspects. This approach considers multiple criteria and design variables such as mechanical aspects, control issues, and task-oriented features to formulate a concurrent design optimization problem that is solved using but not limited to heuristic algorithms. Furthermore, as an innovation, this procedure address all considered aspects in one step instead of multiple sequential stages. Finally, this work discusses an example referring to Mechatronic Design to show the procedure performed and the results show its capability.

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General Method for Topology Design of Parallel Mechanisms

Cited by 3 publications

References 32 publications

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

An Innovative Optimization Design Procedure for Mechatronic Systems with a Multi-Criteria Formulation

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