6-DOF wheeled parallel robot and its automatic type synthesis method

Chu, Hongpeng; Bai, Quan; Qiu, Xuesong; Zhou, Yulin

doi:10.1016/j.mechmachtheory.2021.104646

Cited by 7 publications

(2 citation statements)

References 27 publications

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“…Comparing Section Ⅳ and Ref. [57], it can be seen that it took several weeks to synthesize and select the configurations of wheeled parallel robots before, but now it only takes a few hours to obtain the same synthesis result using the CIM-based synthesis method. Therefore, the CIM-based synthesis method is suitable for parallel robots with special topologies and can improve the efficiency of type synthesis.…”

Section: Discussionmentioning

confidence: 99%

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Type Synthesis Method for Parallel Robots With Special Topologies

Chu,

Zhang,

Zhou

et al. 2023

IEEE Access

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This contribution presents a type synthesis method for parallel robots with special topologies. First, we defined the constraint-incidence matrix (CIM) to describe serial chains by utilizing the geometric properties of screw theory, revealing the motion and constraint attributes and their internal relationship of serial chains. Then, a CIM-based synthesis method is proposed to convert the type synthesis of parallel robots into the geometric derivation of the CIM, and the specific operation steps of the proposed method are given. Finally, we demonstrated the application of the proposed method to the type synthesis of metamorphic, and wheeled parallel robots. Compared with existing type synthesis methods, the CIM-based synthesis method takes advantage of the known topological features of parallel robots with special topologies and can improve the efficiency of type synthesis.

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Section: Discussionmentioning

confidence: 99%

“…According to the CIM M 4.3 and M 4.4 , the corresponding serial chains with wheels can be designed, as shown in Figs. 7 and 8 [57]. The desired 6-DOF wheeled parallel robots can be designed by connecting four serial chains as shown in Figs.…”

Section: E Construct the Desired Parallel Robot And Verify Its Dof At...mentioning

confidence: 99%