Volume 31 Issue 03
Mar.  2005
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Fang Hairong, Fang Yuefa, Guo Shenget al. Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 346-350. (in Chinese)
Citation: Fang Hairong, Fang Yuefa, Guo Shenget al. Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 346-350. (in Chinese)

Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators

  • Received Date: 19 Sep 2003
  • Publish Date: 31 Mar 2005
  • Based on screw theory, the relationship between motion screw system of limbs and constraint screw system of moving platform were analyzed. All possible 5-order motion screw systems of limbs’ structures were enumerated, and then a systematic method was presented for structural synthesis of 4-DOF (4-degrees-of-freedom) parallel manipulators with symmetrical structure. According to their motionproperty, using this method, a serial of manipulators with 3-translation and 1-rotation mobility that had different structures were gotten. Results show that method has simple expression form for structural synthesis of lower mobility parallel manipulators relying on the relationship between motion and constraints that both have the screw models for easily analyzing. Results also show that the method can be easily applied for structural synthesis, and can be efficiently and fleetly used for structural synthesis of symmetrical mechanisms based on the given motion property of moving platform. It establishes the foundation for optimizing design for lower mobility parallel manipulators.

     

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  • [1] Fang Yuefa, Tsai Lungwen. Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures[J] The International Journal of Robotics Research, 2002, 21(9):799~810 [2] Tsai Lungwen. Kinematics of a three-DOF platform manipulator with three extensible limbs. In:Recent Advances in Robot Kinematics. London:Kluwer Academic Publishers, 1996. 401~410 [3] Sameer Joshi,Tsai Lungwen. A comparison study of two 3-DOF parallel manipulators:one with three and the other with four supporting legs [J] Robotics and Automation, IEEE Transactions on, 2003,19(2):200~209 [4] Lenarcic J,Stanisic M M, Parenti-Castelli V. A 4-DOF parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex. In:Advances in Robot Kinematics. London:Kluwer Academic Publishers, 2000. 325~332 [5] Rolland L H. The manta and the kanuk novel 4-DOF parallel mechanisms for industrial Handling. In:Proc ASME Int Conf on Mechanical Engineering. Nashville:TN, 1999 [6] Hunt K H. Structural kinematics of in-parallel-actuated robot-arms. ASME Transactions, Journal of Mechanisms, Transmissions, and Automation in Design,1983,105(4):705~712 [7] 金 琼,杨廷力,刘安心,等. 基于单开链单元的三移动一转动并联机器人机构型综合及其分类[J] 中国机械工程, 2001, 12(9):1038~1043 Jin Qiong, Yang Tingli, Liu Anxin, et al. Structural synthesis and classification of the 4-DOF(3T-1R)parallel robot mechanisms based on the units of single-opened-chain[J] China Mechanical Engineering, 2001, 12(9):1038~1043(in Chinese)
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