Research on robot mechanism type synthesis by degree of freedoms method

Type synthesis of robot mechanism is an important and complicated research field. There are many type synthesis methods at present and different method is fit for different type of robot mechanism. This paper studies all kind of the degree of freedoms (DOF) for robot mechanism. Three DOFs including I-DOF, M-DOF and E-DOF are summarized and used to appraise characteristics and type for a given robot mechanism. Some useful conclusions are also given for us to select appropriate robot mechanism to meet our demands.

[1]  J. Hervé.  Analyse structurelle des mcanismes par groupe des dplacements , 1978 .

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

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

[4]  Alessandro De Luca,et al.  Smooth trajectory planning for XYnR~ planar underactuated robots , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  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..

[6]  Yuefa Fang,et al.  Geometric Synthesis and Enumeration of the Family of 3-DOF Translational Parallel Manipulators via the Screw Theory , 2004 .

[7]  Jianwen Zhao.  Self-motion manifolds of a 7-DOF redundant robot arm , 2007 .

[8]  Jinliang Gong,et al.  Computer-aided kinematical modeling of parallel mechanism with redundant Inputs , 2008, 2008 9th International Conference on Computer-Aided Industrial Design and Conceptual Design.

[9]  Clément Gosselin,et al.  Simulation and design of underactuated mechanical hands , 1998 .

[10]  Qiong Jin,et al.  Structure Synthesis of Parallel Manipulators With 3-Dimension Translation and 1-Dimension Rotation , 2002 .

[11]  Zhang Yanbin,et al.  Type Synthesis of Non-singular Fully-isotropic Translational Parallel Mechanisms Based on Theory of Reciprocal Screw , 2008 .

[12]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[13]  Wei Shimin.  Simulation and Experimentation for Calibration of General 7R Serial Robots , 2006 .