Some Novel Lower-Mobility Parallel Mechanisms

Huang, Zhen; Li, Q. C.

doi:10.1115/detc2002/mech-34299

Cited by 22 publications

(11 citation statements)

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“…Salgado et al have proposed novel 4-DOF parallel mechanisms based on different theories. [1][2][3][4][5][6][7][8][9][10][11][12][13][14] Nevertheless, some of these proposed mechanisms are overconstrained, and do not satisfy the Grübler/Kutzbach criterion. 15 Under the circumstances of the strict assembly conditions and the unavoidable assembly errors, neither the kinematic accuracy nor the motion characteristics can be ensured.…”

Section: Introductionmentioning

confidence: 99%

A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

Guo

et al. 2014

Robotica

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SUMMARYIn this paper, a class of novel four Degrees of Freedom (DOF) non-overconstrained parallel mechanisms with large rotational workspace is presented based on screw theory. First, the conflict between the number of independent constraints applied on the moving platform and the number of kinematic limbs for 4-DOF non-overconstrained parallel mechanism is identified. To solve this conflict, the platform partition method is introduced, and two secondary platforms are employed in each of the parallel mechanisms. Then, the motion requirements of the secondary platforms are analyzed and all the possible kinematic chains are enumerated. The geometrical assembly conditions of all possible secondary limbs are analyzed and some typical non-overconstrained parallel mechanisms are generated. In each of the parallel mechanisms, a planetary gear train is used to connect both of the secondary platforms. The large rotational workspace of the moving platform is obtained due to the relative motion of the two secondary platforms. Finally, the kinematics analysis of a typical parallel mechanism is conducted.

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Section: Introductionmentioning

confidence: 99%

A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

Guo

et al. 2014

Robotica

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“…Therefore, parallel mechanisms with such motion characteristics have attracted much attention. Many researchers have proposed such 4-DOF parallel mechanisms using different theory, [1][2][3][4][5][6][7][8][9][10] while Angeles, 11 Kong and Gossenlin, 12 Gogu, 13 Salgado et al 14 made an systematic * Corresponding author. E-mail: hbqu.andy@gmail.com type synthesis of these mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory

Guo

Fang

2011

Robotica

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A systematic method is developed for the type synthesis of 4-DOF nonoverconstrained parallel mechanisms with three translations and one rotation inspired by the design of H-4. First, the motion requirements of primary platform and secondary platform of the 4-DOF nonoverconstrained parallel mechanisms are analyzed, and the conflict between the number of actuators and the constraint system for nonoverconstrained parallel mechanism is solved. Then, the research topic of type synthesis of 4-DOF nonoverconstrained parallel mechanisms is transformed into the type synthesis of the secondary platform with three translational DOF linked by two chains. On the basis of the screw and reciprocal theory, all possible secondary limbs with 3-DOF, 4-DOF, and 5-DOF are synthesized, respectively. Finally, the configurations and spatial assembly conditions of all possible secondary limbs are provided and some typical mechanisms are sketched as examples.

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“…Zlatanov and Gosselin (2001) proposed a 4-DoF PM, which has three rotational DoFs and one translational DoF along the normal of the moving platform plane. Huang and Li (2002a) invented two 4-DoF PMs, which have three rotational DoFs and one translational DoF along the normal of the base plane.…”

Section: Introductionmentioning

confidence: 99%

“…A complete general constraint-synthesis method was proposed by Huang and Li (2002b). Novel symmetrical 3-DoF, 4-DoF and 5-DoF PMs have been synthesized using the constraint-synthesis method (Huang and Li 2002a, 2002b, 2002c. In addition, Frisoli et al (2000) used the reciprocal screw theory to synthesize the 3-DoF translational PMs.…”

Section: Introductionmentioning

confidence: 99%

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

Huang

2003

The International Journal of Robotics Research

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168

112

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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 PM may 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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Some Novel Lower-Mobility Parallel Mechanisms

Cited by 22 publications

References 0 publications

A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace

Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory

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

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