Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis

Zhang, Shuang; Liu, Jingfang; Ding, Huafeng

doi:10.1177/1687814018797029

Cited by 5 publications

(4 citation statements)

References 27 publications

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“…However, the support structure is a complex spatial mechanism with multi-loop coupled each other, which belongs to the spatial multi-loop coupled mechanism. 31,32 This kind of mechanism has numerous joints and redundant constraints. The relationships between joint clearance and deviation pose are highly nonlinear and coupled.…”

Section: Introductionmentioning

confidence: 99%

Precision estimation of large space-borne parabolic antenna support structure

Chen

Lin

et al. 2022

Advances in Mechanical Engineering

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An accuracy analysis approach – mosaic equivalence approach which is based on the principle of approximate structure substitution, to a large complex spatial mechanism with three-dimensional (3D) paired bearings support joint (PBS-joint) clearance is presented to effectively estimate the support structure precision of large parabolic space-borne antenna. The analysis suggests when all the PBS-joints equipped with Metric 628/6 bearings in standard clearance, the surface precision of support structure can obtain relatively high accuracy with a 99.73% probability that root mean square (RMS) was kept in (0.3275, 0.7673) mm and peak-to-valley (PV) was kept in (0.8806, 1.8178) mm. The solution of deviation configuration under a large complex spatial mechanism using the proposed mosaic equivalence approach can be transformed into that under a mosaiced structure of its simple sub-mechanisms. As a result, the high-dimensional coupling between the deviation configuration decision variables can be effectively avoided. Besides, the constraint equations of large complex mechanisms with the PBS-joint 3D clearance can be simplified. This method lays a foundation for reducing the manufacturing cost and risk of large-diameter, high-precision satellite antennas. It has essential engineering value.

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Section: Introductionmentioning

confidence: 99%

Precision estimation of large space-borne parabolic antenna support structure

Chen

Lin

et al. 2022

Advances in Mechanical Engineering

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“…Zhang et al [21] proposed a new method to synthesize MLMs based on the virtual loop theory and the Assur group theory. Zhang et al [22] transformed the type synthesis of MLMs into the type synthesis of corresponding serial kinematic mechanisms (SKMs) and PKMs based on the topology splitting method and the DOF splitting principle. Xun et al [23] presented a novel rhombohedral multi-loop coupling mechanism with three DOFs.…”

Section: Introductionmentioning

confidence: 99%

Degree-of-Freedom Analysis and Structural Synthesis of a Class of Host–Parasite Multi-Loop Mechanisms

Wei

Dong

2021

Preprint

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The method of analyzing the mechanism in series, parallel and hybrid modes can no longer meet the requirements of analyzing multi-loop mechanisms (MLMs), especially multi-loop mechanisms with passive degrees of freedom(P-DOFs).This study presents an approach to analyzing sub-degree-of-freedom (sub-DOF) relations in a class of MLMs with P-DOFs (P-DOFs) as well as structurally synthesizing these mechanisms. First,the DOFs of mechanisms with P-DOFs are decomposed and combined,and two methods—multi-loop serial connection and multi-loop stacking—are formulated to establish MLMs with P-DOFs.Second, a DOF space (DOF-S) model is generated.Host–parasite (H–P) MLMs are proposed, and various types of parasitism are analyzed. Finally, various DOF distribution patterns in H–P MLMs are analyzed based on real-world examples. The results show the following. H–P mechanisms are a class of MLMs with P-DOFs. For an H–P mechanism, its DOFs can be longitudinally and centrally, transversely and centrally, or comprehensively optimally distributed in the DOF-S by selecting a suitable type of parasitism. The H–P-type palletizing robot prototype developed in this study is able to self-balance. This demonstrates that the comprehensive optimization of DOF distribution is effective. This study enriches the theoretical knowledge on MLMs, which are extensively applied in fields such as aerospace, industrial robotics, and numerical-control machine tools.

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“…Zhang et al 20 proposed a new method for synthesizing multi-loop mechanisms based on virtual-loop theory and the Assur group. Zhang et al 21 transformed the synthesis of multi-loop mechanisms into that of corresponding serial and parallel mechanisms according to typological split and DOF split principles. Hu et al 22 analyzed multiloop mechanisms by combining typology with screw theory.…”

Section: Introductionmentioning

confidence: 99%

A host–parasite structural analysis of industrial robots

Wei

Cai

Gong

et al. 2020

International Journal of Advanced Robotic Systems

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Most driving torques in serial industrial robots are used to overcome the weight of the robot. Although actuators account for a large proportion of the total mass of a robot, they have yet to become a positive factor that enables the robot to achieve gravity balance. This study presents a host–parasite structure to reconstruct the distribution of actuators and achieve gravity balance in robots. First, based on the characteristics of tree–rattan mechanisms, a method for calculating the degrees of freedom and a symbolic representation method for the distribution of branched chains are formulated for host–parasite mechanisms. Second, a configuration analysis and optimization method for host–parasite structure-based robots and a robot prototype are presented. Finally, four host–parasite mechanisms/robots (A, B, C, and D) are compared. The results are as follows. If more parasitic branched chains are added to the yz plane, the loads along axes 2 and 3 become more balanced, which significantly increases the stiffnesses of the mechanism in the y- and z-directions ( Ky and Kz, respectively). If the additional branched chains are closer to the site of maximum deformation, the stiffness of the mechanism in the z-direction ( Kz) increases more significantly. Of the four mechanisms, mechanism D has the best overall performance. The joint torques of mechanism D along axes 2 and 3 are lower than those of mechanism A by 99.78% and 99.18%, respectively. In addition, Kx, Ky, and Kz of mechanism D are 100.56%, 336.19%, and 385.02% of those of mechanism A, respectively. Moreover, the first-order natural frequency of mechanism D is 135.94% of that of mechanism A. Host–parasitic structure is conducive to improving the performance of industrial robots.

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Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis

Cited by 5 publications

References 27 publications

Precision estimation of large space-borne parabolic antenna support structure

Precision estimation of large space-borne parabolic antenna support structure

Degree-of-Freedom Analysis and Structural Synthesis of a Class of Host–Parasite Multi-Loop Mechanisms

A host–parasite structural analysis of industrial robots

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