Type Synthesis Method for Parallel Robots With Special Topologies
Hongpeng Chu,
Yihui Zhang,
Yulin Zhou
et al.
Abstract: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 propose… Show more
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