Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations

Yang, Ting-Li; Liu, Anxin; Shen, Huiping; Hang, Lubin

doi:10.1007/978-3-319-43506-0_13

Cited by 10 publications

(5 citation statements)

References 9 publications

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“…Yang et al [47][48][49][50][51][52] indicated that a topological structure generally has three essential features, including kinematic pair types, dimensional constraint types, and connections between structure units. Six basic dimensional constraint types that describe geometrical conditions between kinematic pairs were presented, such as coincidence of joint axes and perpendicularity of joint axes.…”

Section: Poc Set Methodsmentioning

confidence: 99%

“…The POC method can be used in type synthesis of PMs with both rotations and translations. It has been used in the type synthesis of 3-DOF translational PMs [48], 1T2R partially decoupled PMs [49], 3T1R PMs [50], and some other lower mobility PMs [51,52].…”

Section: Poc Set Methodsmentioning

confidence: 99%

“…The investigation on systematic type synthesis approaches of lower mobility PMs dates back to the last century and has experienced a gold period with great progress at the beginning of this century. Based on various mathematical tools, a variety of approaches have been presented in the literature, including the Lie group theory-based method [14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29], the method based on G F (generalized function) sets [30][31][32][33][34][35], linear transformation method [36][37][38][39][40][41][42][43][44][45][46], position and orientation characteristic (POC) set method [47][48][49][50][51][52], finite screw method [53][54][55][56][57][58][59], screw theory-based method …”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

2019

Chin. J. Mech. Eng.

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Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on different theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the G F set method, the linear transformation method, the POC set method, and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an effective synthesis method for innovative design and further scientific investigations for mechanisms.

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Section: Poc Set Methodsmentioning

confidence: 99%

Section: Poc Set Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

2019

Chin. J. Mech. Eng.

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“…In recent years, researchers have proposed several systematic methods for synthesizing parallel mechanisms with good performances. These methods are primarily divided into screw theory-based methods, [28][29][30] displacement group theory-based methods, [31,32] single-opened-chain unit-based methods, [33,34] virtual chain-based methods, [35,36] and other methods. [37][38][39][40] Except for the virtual chain method, these synthesis methods have complicated derivations, are not universally applicable, and can only synthesize partial configurations.…”

Section: Problem Of Redundant Motion-transmission Based On Convention...mentioning

confidence: 99%

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Zhang,

Zang,

Chen

et al. 2023

Advanced Intelligent Systems

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In this study, the conventional virtual chain method is refined and a 4‐degrees‐of‐freedom (DOF) parallel bipedal mechanism (PBM) for walking robots is presented. The proposed design has the advantages of low inertia, high load‐to‐weight ratio, and impact resistance. First, to solve the redundant motion‐transmission problem, a refined virtual chain method is proposed for the type synthesis of the 4‐DOF parallel thigh mechanism. Second, the relationship equation for each actuated wrench component in a reasonable actuated joint arrangement is derived, and the number and location of the actuated joints are determined. Third, by optimizing the design of the hip joint as a 2‐DOF counter‐centered five‐link spherical mechanism with different rotation centers, passive knee and ankle joints are designed based on the bionic principle. This design is performed to make the PBM isotropic and minimize inertia. The proposed PBM can withstand heavy loads and impacts owing to its humanoid crossed four‐link knee joint mechanism and compliant calf mechanism. Finally, the prototype is processed, and the rationality of the design and excellent performance of the PBM design are verified by dynamic and static simulations and gait experiments.

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“…Parallel robots with Schönflies-motion (three independent translations and one rotation around a fixed axis), also known as, selective compliance assembly robot arm (SCARA) motion [1], named as parallel Schönflies-motion generators, are more and more attractive for high-speed pick-and-place (PnP) applications serving light industries, thanks to their lightweight architecture and high stiffness. Amongst this type of robots [2]- [8], most of them so far have the symmetric structure with four identical limbs, which admit a cylinderical workspace. On the other hand, the PnP operations of the robots deployed in the production line are usually confined in a rectangular region.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and design of a new two-limb parallel Schonflies-motion generator considering isotropic configuration

Shen

2022

IJRA

Self Cite

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<p>This paper presents a new two-limb parallel Schonflies-motion generator, which adopts a pair of alternative spatial modules equivalent to the parallelogram structure. This modular architecture can ensure the enhanced stiffness of the manipulator normal to the motion of the planar parallelogram structure due to the trapezoidal architecture. The preliminary kinematic problems, namely, the mobility, forward/inverse geometry and singularity, are studied as well as the kinematic isotropy. A neutral isotropic configuration of the robot is identified for the structural design of the link lengths.</p>

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Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations

Cited by 10 publications

References 9 publications

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Kinematic analysis and design of a new two-limb parallel Schonflies-motion generator considering isotropic configuration

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