Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms

Shen, Huiping; Yang, Ting-Li; Lv-zhong, MA

doi:10.1016/j.mechmachtheory.2004.12.020

Cited by 40 publications

(10 citation statements)

References 13 publications

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“…本文一个最重要的结论是: 虚拟环路的公共约束之和 m X 就是机构的全部的过约束. 因此, 不必再像以往那样, 把过约束分别定义为环路公共约束形成的一般过约束和虚约束形成的特殊过约束(冗余约束) [9,11] . 这就更加清楚地认识到, 特殊过约束实际上就是利用环路公共约束没能正确计算出来的一种过约束, 而虚拟环路法(或者说虚拟环路的公共约束) 弥补这种不足.…”

Section: The Sum Of Constraints Of Virtual Loops M Xunclassified

用虚拟环约束表示的机构自由度公式

张¹,

王²,

李³

2012

Sci. Sin.-Tech.

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Section: The Sum Of Constraints Of Virtual Loops M Xunclassified

用虚拟环约束表示的机构自由度公式

张¹,

王²,

李³

2012

Sci. Sin.-Tech.

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“…According to the structural synthesis of parallel mechanisms based on the unit of single-open chains, a class of 3 dof (3 translation motion), 5 dof (3 translation and 2 rotation), and 6 dof (3 translation and 3 rotation) parallel robot manipulators were analyzed by Yang et al [59][60][61].…”

Section: Dudita Andmentioning

confidence: 99%

Structural synthesis of serial platform manipulators

Alizade

Bayram

Gezgin

2007

Mechanism and Machine Theory

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In this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOF are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples. Ó 2006 Elsevier Ltd. All rights reserved. Pep.veı gpelcnabkeyyoq pa,one paccvanpbba.ncz ıogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps. Coplaybe gkanaopveyysx vaybgylznopob goclelobanelsyoq cnpyrnyps ocyobaya ya papbbnbb gkanaopv b pavryynsx roynypob. ı pa,one gpelcnabgeya yobaz cnpyrnypyaz aopvyka, a nar;e paccvanpbba.ncz bogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps c ybpobvb b bscobvb gapavb c noxrb ppeybz bx cnpryrnyps. Bcnopbz cnpyrnypys aopvyk cnegeyb golbb;yocnb gpelcnabkeya b bble na,kbws c ypabyeybzvb, aınopavb, uolavb b yeronopsvb roveynapbzvb. Hobse b gepecvonpeyyse venols cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps bkk.cnpbpy.ncz papkbxsvb gpbvepavb.

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“…N g is the number of loop groups with virtual constraints. The number of virtual constraints had to be generally used to calculate mobility of a mechanism with virtual constraints [8][9][10][11] till 2005.…”

Section: Introductionmentioning

confidence: 99%

A new formula of mechanism mobility based on virtual constraint loop

Zhang

Wang

2011

Sci. China Technol. Sci.

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Several important developing phases of the formulas for mobility calculation based on constraints are introduced. The shortcoming of the mobility formulas based on common constraints of loops of a mechanism is that virtual constraints must be calculated before determining the mobility of a mechanism with virtual constraints. In order to avoid the shortcoming, some new concepts including virtual loop, virtual-loop constraint and general-kinematic-pair constraint are used to analyze the relationship between mobility of links and constraint of kinematic pairs and a mobility formula based on common constraints of virtual loops is proposed. The formula is that the number of mobility of a mechanism is the sum of mobility of all links in the mechanism minus the sum of constraints of all kinematic pairs plus the sum of the common constraints of all virtual loops. The sum of over constraints of a mechanism is the sum of constraints of all virtual loops in the mechanism. This mobility formula expressed in terms of common constraints of virtual loops in a mechanism can avoid calculating virtual constraints. It is proved that the new formula is correct, simple and effective through the analysis of several different kinds of mechanisms. mobility, general kinematic pair, virtual loop, virtual-loop common constraint, over constraint Citation:Zhang Y T, Li Y W, Wang L Y. A new formula of mechanism mobility based on virtual constraint loop.

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Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms

Cited by 40 publications

References 13 publications

用虚拟环约束表示的机构自由度公式

用虚拟环约束表示的机构自由度公式

Structural synthesis of serial platform manipulators

A new formula of mechanism mobility based on virtual constraint loop

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