Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms

Conception of the kinematic structures with better performance has been a challenging, yet pivotal issue, since the beginning of the design of mechanisms or robots. This paper proposes a systematic method to synthesize and classify automatically all the valid kinematic structures of planar 3-DOF closed loop mechanisms or robots. First, after the structure representation graphs of planar mechanisms or robots are addressed, the unique representation of both contracted graphs and topological graphs is proposed and used to detect isomorphism in the synthesis process. Then the valid atlas database of the contracted graphs for planar 3-DOF closed loop mechanisms or robots up to 16-link is built. Based on the atlas database, an automatic synthesis method is proposed to synthesize all the kinematic structures of planar 3-DOF closed loop mechanisms or robots, and the complete atlas database with all the valid kinematic structures classified for planar 3DOF closed loop mechanisms or robots up to 16-link is established. The creative design of 3-DOF heavy-load hydraulic robots is conducted to show the usefulness of the established atlas database. [DOI: 10.1115/1.4024919]

[1]  N. Manolescu,et al.  A method based on Baranov Trusses, and using graph theory to find the set of planar jointed kinematic chains and mechanisms , 1973 .

[2]  L. S. Woo,et al.  Type Synthesis of Plane Linkages , 1967 .

[3]  Martín A. Pucheta,et al.  An automated method for type synthesis of planar linkages based on a constrained subgraph isomorphism detection , 2007 .

[4]  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..

[5]  Hong-Sen Yan.  A methodology for creative mechanism design , 1992 .

[6]  Hong-Sen Yan,et al.  Number synthesis of kinematic chains based on permutation groups , 1990 .

[7]  Hong-Sen Yan,et al.  Configuration synthesis of mechanisms with variable topologies , 2009 .

[8]  T. S. Mruthyunjaya.  Structural synthesis by transformation of binary chains , 1979 .

[9]  Grigore Gogu.  Structural synthesis of parallel robots. , 2008 .

[10]  A. Kecskeméthy,et al.  Synthesis of the whole family of planar 1-DOF kinematic chains and creation of their atlas database , 2012 .

[11]  Trevor H. Davies,et al.  Structural analysis of plane linkages by Franke's condensed notation , 1966 .

[12]  J. Dai,et al.  Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds , 1998 .

[13]  Xiaoyuan Wang,et al.  Topological and Geometrical Synthesis of Three-Degree-of-Freedom Fully Parallel Manipulators by Instantaneous Kinematics , 2008 .

[14]  Abdullah F. Al-Dwairi,et al.  A novice-centered decision-support system for type synthesis of function-generation mechanisms , 2010 .

[15]  Zhen Huang,et al.  Isomorphism identification of graphs : Especially for the graphs of kinematic chains , 2009 .

[16]  A. Cardona,et al.  Synthesis of Planar Multiloop Linkages Starting from Existing Parts or Mechanisms: Enumeration and Initial Sizing , 2008 .

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

[18]  Wen Miin Hwang,et al.  Computer-aided structural synthesis of planar kinematic chains with simple joints , 1992 .

[19]  Hong-Sen Yan,et al.  Creative Design of Mechanical Devices , 1999 .

[20]  Ferdinand Freudenstein,et al.  Some Applications of Graph Theory to the Structural Analysis of Mechanisms , 1967 .

[21]  J. Michael McCarthy,et al.  A constraint graph representation of metamorphic linkages , 2011 .

[22]  Q. Liao,et al.  Constraint analysis on mobility change of a novel metamorphic parallel mechanism , 2010 .

[23]  Torsten Brix,et al.  Application of computational kinematics in the digital mechanism and gear library DMG-Lib , 2006 .

[24]  Xin-Jun Liu,et al.  A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability , 2005 .

[25]  Andrés Kecskeméthy,et al.  Synthesis of a complete set of contracted graphs for planar non-fractionated simple-jointed kinematic chains with all possible DOFs , 2011 .

[26]  Ray C. Johnson,et al.  Mechanical Design Synthesis: Creative Design and Optimization , 1978 .

[27]  Xianwen Kong,et al.  Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory , 2004 .

[28]  Tarcisio A. Hess-Coelho,et al.  Topological Synthesis of a Parallel Wrist Mechanism , 2004 .

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

[30]  Qinchuan Li,et al.  Parallel Mechanisms With Bifurcation of Schoenflies Motion , 2009, IEEE Transactions on Robotics.

[31]  Zhen Huang,et al.  Computer-aided structure decomposition theory of kinematic chains and its applications , 2008 .

[32]  N. I. Manolescu,et al.  For a united point of view in the study of the structural analysis of kinematic chains and mechanisms , 1968 .