Design Methodology of Parallel Mechanisms Based on the Concept of Generalized Moving Platform

doi:10.3901/JME.2021.01.086

Abstract

Abstract: By means of analyzing the intrinsic attribute of moving platforms, the concept of generalized moving platform (GMP) is proposed. The proposed GMP contains two essential elements of input and output. According to the moving relation between the input and output elements, the traditional rigid platforms, articulated platforms and configurable platforms can be integrated into the concept of GMP. Based on these concepts, each element of GMP and links and the representative topology layouts are analyzed. In the light of the displacement sub-group/sub-manifold theory, the moving relations corresponding to each topology graph are researched, and one methodology of structural synthesis is established based on the two layers of GMP and links. On the one hand, according to the proposed methodology, parallel mechanisms (PM) with 1R, 2R and 3R rotational freedoms are synthesized based on the proposed GMP. On the other hand, how to synthesis a class of 3R3T and 2R3T PMs based on CMPs of typical PMs is addressed in brief. The results of the two classes of examples prove the effectiveness and necessity of the proposed two layers of GMP and links.

Key words: parallel mechanism, generalized moving platform, topology layout, structural synthesis, Li group theory

CLC Number:

TH112

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.

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