Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Ye, Wei; Li, Qinchuan

doi:10.1186/s10033-019-0350-x

Cited by 35 publications

(17 citation statements)

References 91 publications

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“…Compared to the 6-DOF parallel mechanism, the lower-mobility parallel mechanism has a concise configuration and a simple control strategy. This lower-mobility parallel mechanism is acceptable for ankle rehabilitation training [31,32]. Based on the 3-RRS parallel mechanism, a novel parallel ankle rehabilitation robot was proposed.…”

Section: Mechanical Structure Of the 3-rrs Parrmentioning

confidence: 99%

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

Zou

Zhang

et al. 2022

Micromachines

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The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effective rehabilitation training, the bone structure and motion mechanism of the ankle were analyzed in this paper. Referring to the configuration of the lower-mobility parallel mechanism, a 3-RRS (R and S denote revolute and spherical joint respectively) parallel ankle rehabilitation robot (PARR) was proposed. The robot can realize both single and compound ankle rehabilitation training. The structure of the robot was introduced, and the kinematics model was established. The freedom of movement of the robot was analyzed using the screw theory, and the robot kinematics were analyzed using spherical analytics theory. A circular composite rehabilitation trajectory was planned, and the accuracy of the kinematics model was verified by virtual prototype simulation. The Multibody simulation results show that the trajectory of the target point is basically the same as the expected trajectory. The maximum trajectory error is about 2.5 mm in the simulation process, which is within the controllable range. The experimental results of the virtual prototype simulation show that the maximum angular deflection error of the three motors is 2° when running a circular trajectory, which meets the experimental requirements. Finally, a control strategy for passive rehabilitation training was designed, and the effectiveness of this control strategy was verified by a prototype experiment.

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Section: Mechanical Structure Of the 3-rrs Parrmentioning

confidence: 99%

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

Zou

Zhang

et al. 2022

Micromachines

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show abstract

“…Other authors also presented different approaches for type synthesis of mechanisms based on screw theory [1,26]. For more details about this approach, see Kong and Gosselin [15,17,18]; Chen et al [4]; Zhang et al [28]; Ye and Li [27].…”

Section: Virtual Chain Approachmentioning

confidence: 99%

A new method for type synthesis of parallel mechanisms using screw theory and features of genetic algorithms

Santos

Simoni

Carboni

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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The type synthesis is a fundamental phase in the design of parallel mechanisms. The type synthesis process consists of a systematic approach to generate all possible mechanical structures that are capable of performing a determined movement. The type synthesis presents two main steps: (1) generation of limbs and (2) assembly of parallel manipulators. There are basically three main approaches for type synthesis of parallel mechanisms: screw theory, lie group of rigid body displacements and evolutionary morphology. This paper presents a new method that combines screw theory and characteristics of genetic algorithms. Using the proposed method, it was generated new solutions of 3-DOF limbs (2R1T and 1R2T) for parallel manipulators.

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“…Thus, parallel mechanisms (PMs) for constructing parallel robots or hybrid manipulators are rising to research hotpot and attract attentions of many scholars. Compared with multimobility PMs with five to six degrees-of-freedom (DOF) [9], lower-mobility PMs with two to four DOF are often used as orientation and position adjustment manipulators [10], [11]. For example, the Sprint Z3 tool head [12] can be used as an orientation adjuster and the 2UPR/SPR PM [13] and 3SPR PM [14] can be used as position adjusters (R, P, U, and S stand for revolute, prismatic, universal, and spherical joints, respectively).…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

et al. 2021

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The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, simple kinematic and dynamic models, and ease of control and allow for a variety of application prospects. This paper concentrates on the derivations of the 5-DOF hybrid manipulators based on the synthesized mechanisms. To understand the effect of the constraint on the motion of a rigid body clearly, the method of reciprocal product between the wrench screw (constraint) and the twist screw (motion) is used and the relationships between the constraint and the motion of a rigid body are analyzed as well. The results are extended to the relationships between the limb constraint and the axes of limb joints. Then, limbs are divided into planar motion and spatial motion limbs in view of their motion characteristics, and some common limbs with constraint are listed. After that, based on the type synthesis method, a class of 2T1R planar PMs with common limbs is carried out. Meanwhile, some typical planar closed chains with two same limbs are obtained in the process of type synthesis. Finally, a 2T1R kinematically redundancy planar PM and two 2R1T spatial PMs are derived by making simple changes to the obtained mechanisms, and detailed derivations of three 5-DOF hybrid manipulators with the ability of processing spatial complex surface are given. Proved by the test parts, the accomplishment of deriving novel robot configurations with regard to expectant motion are quite valuable and practical.

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Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Cited by 35 publications

References 91 publications

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

A new method for type synthesis of parallel mechanisms using screw theory and features of genetic algorithms

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

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