Type synthesis of metamorphic parallel robots based on the serial-chain database

Chu, Hongpeng; Zhou, Yulin; Yao, Jiantao

doi:10.1016/j.mechmachtheory.2022.105207

Cited by 2 publications

(2 citation statements)

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“…Step 1: Determine the constraint matrix D of the target serial chain For a parallel robot, its mechanism-constraint system represents the constraints of the moving platform, i.e., the DOFs that the moving platform do not possess. According to the definition of the constraint matrix [54], a constraint matrix can represent the spatial constraints of a rigid body. Therefore, the mechanism-constraint system and the limb-constraint system of a parallel robot can be expressed by the constraint matrices D M and D L , respectively.…”

Section: B Cim-based Synthesis Methodsmentioning

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: B Cim-based Synthesis Methodsmentioning

confidence: 99%

“…According to constraint-screw theory [37,39], it is not enough to only know the physical structure of a serial chain, but also need to know the constraint information. Therefore, we extend the definition of incidence matrix and propose the CIM M as shown in (1) to represent a serial chain [54].…”

Section: A Cimmentioning

confidence: 99%