Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms

doi:10.3901/JME.2018.05.029

Abstract

Abstract: To avoid the difficulties caused by the existence of coupling feature of hybrid kinematic mechanisms (HKMs) in the kinematics analysis, a very simple but effective structural design principle for synthesis of fully-isotropic HKMs is proposed based on G_F set. The basic concept and mathematical operations of G_F set are introduced. A structural synthesis method for synthesis of fully-isotropic HKMs is firstly proposed by analyzing characteristics of structure composition of HKMs. It is shown that structural synthesis of fully-isotropic HKMs can be accomplished by the combination of elements of G_F set. Then, number synthesis formulas are set up and a detailed algorithm of structural synthesis for fully-isotropic HKMs is proposed. The selection criterion of the input pair and the type synthesis principle of decoupled branches are given, hence, fully-isotropic feature of various branches' input is ensured. Furthermore, according to the structural synthesis method for fully-isotropic HKMs, specific process for structural synthesis of three-translational and two-rotational (3T2R) five degrees-of-freedom (DOF) fully-isotropic HKMs is illustrated. Finally, constrained screw theory is exploited to calculate the DoF of a HKM, simulation model is built with ADAMS software, and the generalized velocity curves of the end-effector of the HKM are drawn to prove correctness of the structural synthesis method for fully-isotropic HKMs.

Key words: 3T2R, fully-isotropic, hybrid Kinematic mechanisms, structural synthesis

CLC Number:

TH112

CAO Yi, ZHOU Rui, QIN Youlei, GE Shuyi, DING Rui. Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(5): 29-37.

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