Topology Design of Robot Mechanisms

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

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

Cited by 51 publications

(73 citation statements)

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“…② The above 2P4R planar mechanism and the following sub-string 34 || RR with the additional HSOC 2 will form the second independent loop, namely, Determining the coupling degree: According to the composition principle of mechanism based on single-opened-chains (SOC) units, any PM can be decomposed into a series of Assur kinematic chains (AKC), and an AKC with v independent loops can be decomposed into v SOC. The constraint degree of the j th SOC, △ j , is defined [16,17] by…”

Section: Analysis Of Topology Characteristicsmentioning

confidence: 99%

“…(13) and (16), yielding It can be seen that the geometric constraints Eqs. (7), (15) and (16) are the key to find the analytical equation of the first and second loop position equations of the PM. In summary, when the positions of three prismatic joints P 1 ,P 2 ,P 3 are know, the mechanism under study can have up to eight direct kinematic solutions, according to Eqs.…”

Section: )Solving the Second Loopmentioning

confidence: 99%

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A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Shen

Chablat

Zeng

et al. 2020

Journal of Mechanisms and Robotics

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According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed which corresponds to its partial motion decoupling property. 0 J J J

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Section: Analysis Of Topology Characteristicsmentioning

confidence: 99%

Section: )Solving the Second Loopmentioning

confidence: 99%

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Shen

Chablat

Zeng

et al. 2020

Journal of Mechanisms and Robotics

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“…The general and full-cycle DOF formula for PMs proposed in author's work [18] is given: ( 1) bj M  -POC set generated by the end link of j+1sub-chains.…”

Section: Determining the Dofmentioning

confidence: 99%

“…According to topology design theory of PM based on position and orientation characteristics (POC) equations [18], a new TPM is proposed in this paper. The TPM is designed with simple structure and features zero coupling degree, which makes it possible to produce analytical models for the direct and inverse kinematic model.…”

Section: Introductionmentioning

confidence: 99%

Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

Shen

Chablat³

et al. 2018

Volume 5A: 42nd Mechanisms and Robotics Conference

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In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on position and orientation characteristics (POC) equations. The main topological characteristics such as POC, degree of freedom and coupling degree are calculated. Then, the analytical formula for the direct and inverse kinematic are directly derived since coupling degree of the PM is zero. The study of singular configurations is simple because of the independence of the kinematic chains.

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“…The output characteristics of the moving platform are the intersection of terminal kinematic characteristics of all limbs [23][24][25][26]. That is,…”

Section: Topological Conditions Of Type Synthesis For Dpmsmentioning

confidence: 99%

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

Bai

2017

Mathematical Problems in Engineering

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Decoupled parallel mechanisms (DPMs) have the characteristics of compact structure and simple control with wide applications. This paper presents a new method of type synthesis for DPMs by virtue of Lie groups and screw theory. The method consists of synthesis at limb level and configuration level. At limb level, Lie group is used to synthesize the limbs with required DOFs. At configuration level, screw theory is adopted to determine configuration with synthesized limbs that satisfy the type synthesis criteria of DPMs. The type synthesis criteria including limb decoupling and selection of the driving pairs are presented. Upon the formulation, the procedure of type synthesis of DPMs is developed. Type synthesis is conducted with the proposed method, which leads to new spatial and planar fully decoupled 2T1R mechanisms.

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Topology Design of Robot Mechanisms

Cited by 51 publications

References 0 publications

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

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