STRUCTURAL SYNTHESIS AND CLASSIFICATION OF THE 3DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS BASED ON THE UNITS OF SINGLE-OPENED-CHAIN

›› 2002, Vol. 38 ›› Issue (8): 31-36.

• Article • Previous Articles Next Articles

STRUCTURAL SYNTHESIS AND CLASSIFICATION OF THE 3DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS BASED ON THE UNITS OF SINGLE-OPENED-CHAIN

Yang Tingli;Jin Qiong;Liu Anxin;Shen Huiping;Luo Yufeng

SINOPIC Jinling Petrochemical Corp. Southeast University PLA University of Science and Technology Jiangsu Institute of Petrochemical Technology Nanchang University

Published:2002-08-15

Abstract

Abstract: Based on the units of single-opened-chain limb, some structural laws of degenerate-rank parallel robot mechanisms are revealed, and a systematic and effective new method for structural synthesis of 3DOF translational parallel robot mechanisms is put forward. 33 mechanisms are synthesized and classified, 29 of which are presented for the first time. The method is of universal significance and is used for the structural synthesis of degenerate-rank parallel robot mechanisms with other kinematics output types.

Key words: Degenerate-rank Single-opened-chain limb, Parallel robot mechanisms, Structural synthesis

CLC Number:

TH112 TP242

Yang Tingli;Jin Qiong;Liu Anxin;Shen Huiping;Luo Yufeng. STRUCTURAL SYNTHESIS AND CLASSIFICATION OF THE 3DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS BASED ON THE UNITS OF SINGLE-OPENED-CHAIN[J]. , 2002, 38(8): 31-36.

[1]	HUANG Peng, LI Changshuo, DING Huafeng, CHEN Ziming, ZHAO Yuqian. Structural Synthesis and Optimization of the Hydraulic Loader Working Device [J]. Journal of Mechanical Engineering, 2024, 60(1): 220-234.
[2]	WANG Congzhe, YANG Dewei, ZHANG Yi, ZHANG Yanan. Design Methodology of Parallel Mechanisms Based on the Concept of Generalized Moving Platform [J]. Journal of Mechanical Engineering, 2021, 57(1): 86-99.
[3]	CAO Yi, ZHOU Rui, QIN Youlei, GE Shuyi, DING Rui. Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms [J]. Journal of Mechanical Engineering, 2018, 54(5): 29-37.
[4]	YANG Tingli, LIU Anxin, SHEN Huiping, HANG Lubin. Topological Structural Synthesis of 3T-1R Parallel Mechanism Based on POC Equations [J]. Journal of Mechanical Engineering, 2017, 53(21): 54-64.
[5]	LI Shujun;DAI Jiansheng. Structural Synthesis Method of Planar Mechanisms Using the Assur-group Based Adjacency Matrix [J]. , 2012, 48(13): 13-18.
[6]	LI Shujun;DAI Jiansheng. Topological Representation of Planar Mechanisms Based on Assur Group Elements [J]. , 2011, 47(19): 8-13.
[7]	YANG Tingli;LIU Anxin;LUO Yufeng;HANG Lubin;SHEN Huiping;SHI Zhixin. Basic Principles, Main Characteristics and Development Tendency of Methods for Robot Mechanism Structure Synthesis [J]. , 2010, 46(9): 1-11.
[8]	HUANG Xiguang;LIAO Qizheng;WEI Shimin;LI Duanlin. Forward Kinematics Analysis of the General 6-6 Platform Parallel Mechanism Based on Algebraic Elimination [J]. , 2009, 45(1): 56-61.
[9]	LIU Fanghua;WU Hongtao;MA Lüzhong. Intellectualized Structural Synthesis and Classification of the 3-DOF Space Parallel Robot Mechanisms [J]. , 2008, 44(7): 181-185.
[10]	Yu Haibo;Yu Jingjun;Bi Shusheng;Zong Guanghua. CONFIGURATION SYNTHESIS OF RECONFIGURABLE ROBOT BASED ON GRAPH THEORY [J]. , 2005, 41(8): 79-83.

STRUCTURAL SYNTHESIS AND CLASSIFICATION OF THE 3DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS BASED ON THE UNITS OF SINGLE-OPENED-CHAIN

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 10

Recommended Articles

Metrics

Comments