Type Synthesis of Parallel Mechanisms Having the Second Class GF Sets and Two Dimensional Rotations

With the introduction of generalized function sets (GF set) to represent the characteristics of the end-effectors of parallel mechanisms, two classes of GF sets are proposed. The type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations, including 2-, 3-, and 4DOF parallel mechanisms, is investigated. First, the intersection algorithms for the GF sets are established via the axiom of two dimensional rotations. Second, the kinematic limbs with specific characteristics are designed according to the axis movement theorem. Finally, several parallel mechanisms having the second class GF sets and two dimensional rotations have been illustrated to show the effectiveness of the proposed methodology.

[1]  J. Rooney,et al.  Some Kinematic Structures for Robot Manipulator Designs , 1983 .

[2]  J. M. Hervé.  The Lie group of rigid body displacements, a fundamental tool for mechanism design , 1999 .

[3]  Q. C. Li,et al.  General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators , 2002, Int. J. Robotics Res..

[4]  Hui Zhao,et al.  New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs , 2002 .

[5]  Yuefa Fang,et al.  Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures , 2002, Int. J. Robotics Res..

[6]  Xin-Jun Liu,et al.  Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram , 2003, Int. J. Robotics Res..

[7]  Z. Huang,et al.  Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method , 2003, Int. J. Robotics Res..

[8]  C. Gosselin,et al.  Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory , 2004 .

[9]  Marco Carricato,et al.  A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist , 2004, Int. J. Robotics Res..

[10]  J. Angeles.  The Qualitative Synthesis of Parallel Manipulators , 2004 .

[11]  G. Gogu.  Fully-Isotropic Over-Constrained Parallel Wrists with Two Degrees of Freedom , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Clément Gosselin,et al.  Type synthesis of three-DOF up-equivalent parallel manipulators using a virtual-chain approach , 2006, ARK.

[13]  Jacques Marie Hervé.  Uncoupled actuation of pan-tilt wrists , 2006, IEEE Transactions on Robotics.

[14]  H. Lipkin,et al.  Mobility of Overconstrained Parallel Mechanisms , 2006 .

[15]  Zexiang Li,et al.  A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators , 2007, IEEE Transactions on Robotics.

[16]  Qinchuan Li,et al.  Structural Shakiness of Nonoverconstrained Translational Parallel Mechanisms With Identical Limbs , 2009, IEEE Transactions on Robotics.

[18]  G. Gogu.  Structural synthesis of maximally regular T3R2-type parallel robots via theory of linear transformations and evolutionary morphology , 2009, Robotica.

[19]  Y. Fang,et al.  Structural Synthesis of Serial-Parallel Hybrid Mechanisms Based on Representation and Operation of Logical Matrix , 2009 .

[20]  Qiong Jin,et al.  Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms , 2009 .

[21]  J. Dai,et al.  Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration , 2010 .

[22]  Qinchuan Li,et al.  1T2R Parallel Mechanisms Without Parasitic Motion , 2010, IEEE Transactions on Robotics.

[23]  Yi Lu,et al.  Autoderivation of Topological Graphs for Type Synthesis of Planar 3DOF Parallel Mechanisms , 2010 .