Design a Series of Parallel Mechanisms with a Helical Joint Based on the Concept of Articulated Moving Platform

doi:10.3901/JME.2018.05.084

Abstract

Abstract: Based on the common characteristics of parallel mechanisms (PMs) with an articulated moving platform (AMP), a general topology graph of PMs with an AMP is proposed. This topology graph divides a PM into three parts that are a base, an articulated moving platform and first-degree limbs. The methodology of structural synthesis corresponding to the topology graph is established based on displacement sub-group/sub-manifold theory. Several AMPs with a helical joint is proposed which have two rotational degrees of freedom (DOFs) or three rotational DOFs, and by means of the proposed methodology, PMs with 2R, 2R2T and 3R DOFs are synthesized. The result shows that some of the synthesized PMs can realize continuous 360° rotational motion in multiple directions, which proves the effectiveness of the proposed synthesis methodology. According to the requirements of designing mechanisms with virtual center of motion, the corresponding application of the synthesized PMs is addressed in brief.

Key words: articulated moving platform, helical joint, Li group theory, parallel mechanism, virtual center of motion

CLC Number:

TH112

WANG Congzhe, ZHANG Yi. Design a Series of Parallel Mechanisms with a Helical Joint Based on the Concept of Articulated Moving Platform[J]. Journal of Mechanical Engineering, 2018, 54(5): 84-93.

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