Type Synthesis of Parallel Mechanisms with Movable RCM Based on Lie Group Theory

doi:10.3901/JME.260690

Abstract

Abstract: A class of parallel mechanisms (PMs) with movable RCM based on the 3-^uvU^uvU is proposed, and type synthesis of such mechanisms is accomplished through Lie group theory. First, principles and operational rules of Lie group theory are elucidated, followed by analysis of the motion characteristics of double-parallelogram mechanism. Subsequently, reconfigurable platform are synthesized according to RCM adjustment requirements. By integrating the reconfigurable platform with the 3-^uvU^uvU, a novel 3-^uvU^uvU featuring movable RCM is designed, whose kinematic performance is validated and analyzed. Furthermore, equivalent PMs of 3-^uvU^uvU are synthesized based on Lie group theory, enabling the design of a family of PMs with movable RCM. Selected mechanisms from this family undergo motion pattern verification and kinematic characteristic analysis, demonstrating the effectiveness of the proposed methodology and the validity of the mechanisms. Theoretical foundations for practical applications of such mechanisms are established

Key words: parallel mechanisms, Lie group theory, type synthesis, movable RCM

CLC Number:

TG156

CAO Yi, LÜ Xianhai, WANG Kai, YE Fan. Type Synthesis of Parallel Mechanisms with Movable RCM Based on Lie Group Theory[J]. Journal of Mechanical Engineering, 2026, 62(13): 87-98.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260690

http://www.cjmenet.com.cn/EN/Y2026/V62/I13/87

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