Design Methods and Applications for the Fewer Input-More Output Parallel Mechanisms

doi:10.3901/JME.2018.01.223

Abstract

Abstract: The design methods and potential applications for the parallel mechanisms with fewer input-more output (Fi-Mo) are proposed. The purpose of the investigation is to provide the theoretical basis for the design of equipment obtaining more output motions containing both independence motions and derivative ones through fewer actuated inputs. A mathematical model that correlates the number of actuated inputs, degrees of freedom (DOF) and number of output position and orientation (N_out) is established. Furthermore, all basic types of Fi-Mo PMs are put forward. Accordingly, two design methods for Fi-Mo PMs are proposed. The first method is based on fixing one by one the actuated inputs and replacing chains with an equivalent chain. The second method is based on constructing such chains that contain parasitic motions. These two methods are then illustrated by designing a 1-DOF one translation and two-rotation Fi-Mo PM and a 1-DOF three-rotation Fi-Mo PM, respectively. Three multi-dimension parallel vibrating screens with one-input are developed according to the corresponding 1-DOF Fi-Mo PMs proposed. The investigation indicates that Fi-Mo PMs are expected to be an important research topic and will have important theoretical and practical value for novel energy-saving equipment designs which are needed for industrial development.

Key words: fewer input-more output, parallel mechanism, parasitic motion, position and orientation characteristics

CLC Number:

TH11

SHEN Huiping, DENG Jiaming, MENG Qingmei, LI Ju, ZHU Wei. Design Methods and Applications for the Fewer Input-More Output Parallel Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(1): 223-232.

References

[1] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997. HUANG Zhen,KONG Lingfu,FANG Yuefa. The mechanisms theory and control of parallel robotics[M]. Beijing:China Machine Press,1997.
[2] 杨廷力. 机器人机构拓扑结构学[M]. 北京:机械工业出版社.2004. YANG Tingli. Topology structure design of robot mechanisms[M]. Beijing:China Machine Press,2004.
[3] HUANG T,WANG P F,ZHAO X M,et al.Design of a 4-DOF hybrid PKM module for large structural component assembly[J]. CIRP Annals-Manufacturing Technology,2010,59(1):159-162.
[4] 高峰,杨加伦,葛巧德.并联机器人型综合的GF集理论[M].北京:科学出版社,2011. GAO Feng,YANG Jialun,GE Qiaode. GF set theory for parallel mechanism type synthesis[M]. Beijing:Science Press,2011.
[5] 杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012. YANG Tingli,LIU Anxin,LUO Yufeng,et al. Theory and application of robot mechanism topology[M]. Beijing:Science Press,2012.
[6] HERVE J M.Design of parallel manipulators via the displacement group[C]//The 9th World Congress On Theory of Machine and Mechanisms,1995,Milano,Italy,1995:2079-2082.
[7] LIU Xinjun,WANG Jinsong. Parallel kinematics-type,kinematics and design[M]. Springer,2014.
[8] 沈惠平,尹洪波,李菊,等. 基于方位特征方法的范例并联机构的拓扑特征分析及其启示与应用[J].机械工程学报,2015,51(13):101-115. SHEN Huiping,YIN Hongbo,LI Ju,et al. Position and orientation characteristic based method and enlightenment for topology characteristic analysis of typical parallel mechanisms and its application[J]. Journal of Mechanical Engineering,2015,51(13):101-115.
[9] 罗红萍.复摆颚式破碎机破碎腔有效破碎空间的研究[J].矿山机械,2010,38(5):73-77. LUO Hongping. Study on the effective crushing cavity space of the compound pendulum jaw crusher[J]. Mining and Processing Equipment,2010,38(5):73-77.
[10] 朱新建. 摆动式混合机运动分析及实验研究[D]. 北京:北京化工大学,1999. ZHU Xinjian. Kinematic analysis and experiment research on shaker mixer[D].Beijing:Beijing University of Chemical Technology,1999.
[11] 沈惠平,邓嘉鸣,李菊,等.少维输入-多维期望运动输出并联机构及其应用[J]. 机械设计与制造工程,2013,42(6):1-4. SHEN Huiping,DENG Jiamin,LI Ju,et al. Fewer inputs-more expected outputs parallel mechanisms and application[J]. Machine Design and Manufacturing Engeering,2013,42(6):1-4.
[12] 严华,杨灿军.上肢康复训练外骨骼机器人技术研究进展[J]. 世界康复工程与器械,2012,2(2):9-13. YAN Hua,YANG Canjun. Research progress of upper limb exoskeleton training robotics[J]. International Rehabilitation Engineering & Devices,2012,2(2):9-13.
[13] SHEN Huiping,ZHU Xiaorong,ZHANG Dan,et al. The design methodology for less input-more output parallel mechanisms[J]. Mechanism and Machine Theory,2016,104:43-58.
[14] 卿建喜,李剑锋,方斌. 冗余驱动Tricept并联机构的驱动优化[J]. 机械工程学报,2010,46(5):8-14. Qing Jianxi,LI Jianfeng,FANG Bin. Drive optimization of Tricept parallel mechanism with redundant actuation[J].Journal of Mechanical Engineering,2010,46(5):8-14.
[15] 陈炜,余跃庆,张绪平.欠驱动机器人研究综述[J].机械设计与研究,2005,21(4):22-26. CHEN Wei,YU Yueqing,ZHANG Xuping. A survey on the underactuated robots[J]. Machine Design and Research,2005,21(4):22-26.
[16] 尹洪波.并联机构的拓扑结构及其运动学研究[D].常州:常州大学,2014. YIN Hongbo. Study on the topological structure and kinematics of parallel mechanisms[D]. Changzhou:Changzhou University,2014.
[17] 戴丽芳. 新型并联机构的分析设计及其应用[D].常州:常州大学,2014. DAI Lifang. Analysis and design of novel parallel mechanism and its application[D]. Changzhou:Changzhou University,2014.
[18] 沈惠平,孟庆梅,朱帅帅,等. 一种两输入三转动输出并联机构:中国,201310394921.6[P]. 2013-08-28. SHEN Huipin,MENG Qinmei,ZHU Shuaishuai,et al. A two-input three-rotation output parallel mechanism:China,201310394921.6[P]. 2013-08-28.
[19] 沈惠平,黄涛,邓嘉鸣,等. 一种单输入三平移三转动输出并联装置:中国,201310415851.8[P]. 2013-09-10. SHEN Huiping,HUANG Tao,DENG Jiaming,et al. A kind of one-input three-translation three-rotation output parallel device:China,201310415851.8[P]. 2013-09-10.
[20] 沈惠平,黄涛,邓嘉鸣,等. 一种单输入三平移三转动输出并联机构:中国,201310416490.9[P]. 2013-09-10. SHEN Huiping,HUANG Tao,DENG Jiaming,et al. A kind of one-input three-translation three-rotation output parallel mechanism:China,201310416490.9[P]. 2013-09-10.
[21] 沈惠平,黄涛,邓嘉鸣,等.一种单输入四维运动输出并联机构:中国,201310276474.4[P]. 2013-09-10. SHEN Huiping,HUANG Tao,DENG Jiaming,et al. A kind of one-input four-output parallel mechanism:China, 201310276474.4[P]. 2013-09-10.
[22] 沈惠平,余同柱,黄涛,等.一种单自由度三维运动机构:中国,201210307595.6[P]. 2012-08-23. SHEN Huiping,YU Tongzhu,HUANG Tao,et al. A kind of three-dimension motor mechanism with single freedom:China,2012103007595.6[P]. 2012-08-23.
[23] 沈惠平,余同柱,尹洪波,等.一种单自由度三维运动装置:中国,201210307592.2[P]. 2012-08-23. SHEN Huiping,YU Tongzhu,YIN Hongbo,et al. A kind of three-dimension motor device with single freedom:China,2012103007592.2[P]. 2012-08-23.
[24] 沈惠平,张会芳. 一种新型并联筛及其运动学研究与研制[J]. 机械设计,2007,24(6):34-36. SHEN Huiping,ZHANG Huifang. A kind of novel parallel movement vibration sieve and its kinematic research and development[J]. Journal of Machine Design,2007,24(6):34-36.
[25] 王新翔.非平面筛面并联振动筛的筛分实验研究[D].常州:常州大学,2012. WANG Xinxiang. The fraction experiment research on parallel vibration sieve with non-planar screen[D]. Changzhou:Changzhou University,2012.
[26] SHEN Huiping,XUE Changyu,ZHANG Jiantao,et al. A novel PKM-based vibrating sifter and its screening efficiency experimental study[C]//13th World Congress in Mechanism and Machine Science,June19-25,2011,México,IFToMM,2011.
[27] 沈惠平,王新翔,邓嘉鸣,等.并联振动筛与直线筛筛分效率的实验比较研究[J]. 矿山机械,2012,40(5):79-83. SHEN Huiping,WANG Xinxiang,DENG Jiaming,et al. Experimental comparison research on screening performance between parallel vibrating sieve and linear vibrating sieve[J]. Mining & Processing Equipment,2012,40(5):79-83.
[28] 邓嘉鸣,沈惠平,李菊,等.三维并联振动筛的设计与实验[J]. 农业机械学报,2013,44(11):342-346. DENG Jiaming,SHEN Huiping,LI Ju,et al. Design and experiment for three-dimensional parallel kinematics vibration sieve[J]. Transactions of the Chinese Society of Agricultural Machinery,2013,44(11):342-346.
[29] 黄涛. 四自由度并联机构新机型综合及应用[D].常州:常州大学,2014. HUANG Tao,Type synthesis and apply of four degree of freedom parallel mechanism[D]. Changzhou:Changzhou University,2014.
[30] 李菊,曾氢菲,邓嘉鸣,等. 多维并联振动筛筛分过程解析与筛面运动形式优选[J]. 农业机械学报,2016,47(11):399-407. LI Ju,ZENG Qingfei,DENG Jiaming,et.al. Screening process analysis for multidimensional parallel vibrating screen and optimization of screen surface movement[J]. Transactions of the Chinese Society of Agricultural Machinery,2016,47(11):399-407.
[31] 邓嘉鸣,戴丽芳,沈惠平,等.并联式脚底按摩机构的设计及其研制[J]. 机械设计,2016,33(2):78-82. DENG Jiaming,DAI Lingfang,SHEN Huiping,et al. A novel parallel foot massage mechanism and its kinematics design[J]. Journal of Machine Design,2016,33(2):78-82.
[32] 沈惠平,杨梁杰,邓嘉鸣.用于肩关节康复训练的单输入三转动输出并联机构及其运动学设计[J]. 中国机械工程,2015,26(22):2983-2988. SHEN Huiping,YANG Liangjie,DENG Jiaming. A one-input three-rotation output parallel mechanism used for shoulder rehabilitation and its kinematics design[J]. China Mechanical Engineering,2015,26(22):2983-2988.