Topological Structural Synthesis of 3T-1R Parallel Mechanism Based on POC Equations

doi:10.3901/JME.2017.21.054

Abstract

Abstract: The systematic method for topological structural synthesis of parallel mechanism based on POC equations is introduced considering the development of SCARA parallel robot, the complete procedure for structural synthesis of 3T-1R parallel mechanism is discussed using this method. Thirteen types of 3T-1R parallel mechanisms (including 3 types of 3T-1R parallel mechanisms already used for the SCARA parallel robot) were obtained. The structural synthesis method based on POC equations is easy to use since there are explicit formulas or criteria for each step of the synthesis process.

Key words: 3 translations and 1 rotation output, degree of freedom, parallel mechanism, position and orientation characteristic (POC), single-open-chain (SOC), topological structural synthesis

CLC Number:

TH112

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.

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