With the introduction of generalized function sets ( set) to represent the characteristics of the end-effectors of parallel mechanisms, two classes of sets are proposed. The type synthesis of parallel mechanisms having the second class sets and two dimensional rotations, including 2-, 3-, and 4DOF parallel mechanisms, is investigated. First, the intersection algorithms for the 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 sets and two dimensional rotations have been illustrated to show the effectiveness of the proposed methodology.
Issue Section:
Research Papers
1.
Gosselin
, C. M.
, and Caron
, F.
, 1999, “Two Degree-of-Freedom Spherical Orienting Device
,” U.S. Patent No. 5,966,991.2.
Carricato
, M.
, and Parenti-Castelli
, V.
, 2004, “A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist
,” Int. J. Robot. Res.
0278-3649, 23
(6
), pp. 661
–667
.3.
Zeng
, D.
, Huang
, Z.
, and Lu
, W.
, 2007, “A Family of Novel 2DOF Rotational Decoupled Parallel Mechanisms
,” Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation
, Harbin, China, Aug. 5–8, pp. 2478
–2483
.4.
Gogu
, G.
, 2005, “Fully-Isotropic Over-Constrained Parallel Wrists With Two Degrees of Freedom
,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation
, Barcelona, Spain, Apr. 18–22, pp. 4025
–4030
.5.
Hervé
, J. M.
, 2006, “Uncoupled Actuation of Pan-Tilt Wrists
,” IEEE Trans. Rob. Autom.
1042-296X, 22
(1
), pp. 56
–64
.6.
Fan
, C. F.
, Liu
, H. Z.
, and Zhang
, Y. B.
, 2009, “Kinematics and Singularity Analysis of a Novel 1T2R Fully-Decoupled Parallel Mechanism
,” IEEE International Conference on Intelligent Computing and Intelligent Systems
, Shanghai, China, Nov. 20–22, pp. 312
–316
.7.
Liu
, X. J.
, and Wang
, J. S.
, 2003, “Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram
,” Int. J. Robot. Res.
0278-3649, 22
(9
), pp. 717
–732
.8.
Gogu
, G.
, 2009, “Structural Synthesis of Maximally Regular t3r2-Type Parallel Robots via Theory of Linear Transformations and Evolutionary Morphology
,” Robotica
0263-5747, 27
(1
), pp. 79
–101
.9.
Gao
, F.
, Li
, W.
, Zhao
, X.
, Jin
, Z.
, and Zhao
, H.
, 2002, “New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs
,” Mech. Mach. Theory
0094-114X, 37
(11
), pp. 1395
–1411
.10.
Fang
, Y.
, and Tsai
, L. -W.
, 2002, “Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators With Identical Limb Structures
,” Int. J. Robot. Res.
0278-3649, 21
(9
), pp. 799
–810
.11.
Earl
, C. F.
, and Rooney
, J.
, 1983, “Some Kinematics Structures for Robot Manipulator Designs
,” ASME J. Mech., Transm., Autom. Des.
0738-0666, 105
(1
), pp. 15
–22
.12.
Lu
, Y.
, Ding
, L.
, and Yu
, J.
, 2010, “Autoderivation of Topological Graphs for Type Synthesis of Planar 3DOF Parallel Mechanisms
,” ASME J. Mech. Rob.
1942-4302, 2
(1
), p. 011002
.13.
Hervé
, J. M.
, 1999, “The Lie Group of Rigid Body Displacements, a Fundamental Tool for Mechanism Design
,” Mech. Mach. Theory
0094-114X, 34
(5
), pp. 719
–730
.14.
Hervé
, J. M.
, 2003, “The Planar-Spherical Kinematic Bond: Implementation in Parallel Mechanisms
,” http://www.parallemic.org/Reviews/Review013.htmlhttp://www.parallemic.org/Reviews/Review013.html15.
Meng
, J.
, Liu
, G.
, and Li
, Z.
, 2007, “A Geometric Theory for Analysis and Synthesis of Sub-6 DOF Parallel Manipulators
,” IEEE Trans. Rob. Autom.
1042-296X, 23
(4
), pp. 625
–649
.16.
Li
, Q.
, and Hervé
, J. M.
, 2009, “Structural Shakiness of Nonoverconstrained Translational Parallel Mechanisms With Identical Limbs
,” IEEE Trans. Rob. Autom.
1042-296X, 25
(1
), pp. 25
–36
.17.
Li
, Q. C.
, and Hervé
, J. M.
, 2010, “1T2R Parallel Mechanisms Without Parasitic Motion
,” IEEE Trans. Rob. Autom.
1042-296X, 26
(3
), pp. 401
–410
.18.
Yu
, J. J.
, Dai
, J. S.
, Bi
, S. S.
, and Zong
, G. H.
, 2010, “Type Synthesis of a Class of Spatial Lower-Mobility Parallel Mechanisms With Orthogonal Arrangement Based on Lie Group Enumeration
,” Sci. China, Ser. E: Technol. Sci.
1006-9321, 53
(2
), pp. 388
–404
.19.
Zeng
, Q.
, and Fang
, Y.
, 2009, “Structural Synthesis of Serial-Parallel Hybrid Mechanisms Based on Representation and Operation of Logical Matrix
,” ASME J. Mech. Rob.
1942-4302, 1
(1
), p. 041003
.20.
Huang
, Z.
, and Li
, Q. C.
, 2002, “General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators
,” Int. J. Robot. Res.
0278-3649, 21
(2
), pp. 131
–145
.21.
Huang
, Z.
, and Li
, Q. C.
, 2003, “Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method
,” Int. J. Robot. Res.
0278-3649, 22
(1
), pp. 59
–79
.22.
Kong
, X.
, and Gosselin
, C. M.
, 2006, “Type Synthesis of 3-DOF UP-Equivalent Parallel Manipulators Using a Virtual Chain Approach
,” Advances in Robot Kinematics
, B.
Roth
, ed., Springer
, The Netherlands
, pp. 123
–132
.23.
Kong
, X.
, and Gosselin
, C. M.
, 2004, “Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory
,” ASME J. Mech. Des.
0161-8458, 126
(1
), pp. 101
–108
.24.
Yang
, T. L.
, Liu
, A. -X.
, and Jin
, Q.
, 2009, “Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms
,” ASME J. Mech. Des.
0161-8458, 131
(2
), p. 021001
.25.
Angeles
, J.
, 2004, “The Qualitative Synthesis of Parallel Manipulators
,” ASME J. Mech. Des.
0161-8458, 126
(4
), pp. 617
–624
.26.
Dai
, J. S.
, Huang
, Z.
, and Lipkin
, H.
, 2006, “Mobility of Overconstrained Parallel Mechanisms
,” ASME J. Mech. Des.
0161-8458, 128
(1
), pp. 220
–229
.Copyright © 2011
by American Society of Mechanical Engineers
You do not currently have access to this content.
