Type synthesis of parallel mechanisms having the first class <i>G<sub>F</sub></i> sets and one-dimensional rotation

Yang, Jialun; Gao, Feng; Ge, Q. J.; Zhao, Xin; Guo, Weizhong; Jin, Zhenlin

doi:10.1017/s0263574711000105

Cited by 29 publications

(27 citation statements)

References 26 publications

(24 reference statements)

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“…Generalized function sets, called G F sets, were introduced by Gao et al [30][31][32][33][34][35] to denote the motion characteristics of the moving platforms of robots. A G F set is composed of six elements:…”

Section: Methods Based On G F Setsmentioning

confidence: 99%

“…There is a total of 21 types of G F sets, which are classified into two classes according to the sequence of translational characteristics and rotational characteristics, that is, first-class G F sets and second-class G F sets, respectively. The type synthesis of PMs that have the motion of first [31,32] and second-class G F sets [33] is conducted successively.…”

Section: Methods Based On G F Setsmentioning

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%

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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: Methods Based On G F Setsmentioning

confidence: 99%

Section: Methods Based On G F Setsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

2019

Chin. J. Mech. Eng.

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“…Type synthesis theory of parallel mechanisms is relatively well established based on screw theory. [4][5][6][7][8] In addition, type synthesis of single closed-loop chains is also relatively mature. 5,26 After obtaining the corresponding serial and parallel mechanisms, the target mechanism can be obtained by assembling them.…”

Section: The First-level Separation: Starting At the Mov-mentioning

confidence: 99%

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

Zhang

Liu

Ding

2018

Advances in Mechanical Engineering

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A novel type synthesis method for a class of spatial multi-loop coupled mechanisms with translational degrees of freedom is proposed in the paper. The novel class of spatial multi-loop coupled mechanisms has a stable topology layout which consists of three branches and three coupled chains. The basic idea of the new structural synthesis method lies at replacing the inputs of one mechanism by the outputs of another, thereby combining several mechanisms, where the topology split method for the topological layout and corresponding degree of freedom splitting principle are provided. The synthesis of the target mechanism is transformed into synthesis of corresponding serial and parallel mechanisms thereby, and a class of spatial multi-loop coupled mechanisms is synthesized. To validate the new synthesis method and to present a theoretical basis for future application, kinematic analysis of a single translational mobility (1T) spatial multiloop coupled mechanism and a symmetrical two translational degrees of freedom (2T) spatial multi-loop coupled mechanism is performed. This article enriches the family of the spatial mechanisms for further instructing the study of spatial multi-loop coupled mechanisms.

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“…The structure parameters contain the dimension of the moving platform, the number of limbs, actuated limbs, driving pairs, redundant limbs, and so forth. Therefore, the topological structure of DPMs and the structure parameters must satisfy the following conditions [23,27] …”

Section: Topological Conditions Of Type Synthesis For Dpmsmentioning

confidence: 99%

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

Bai

2017

Mathematical Problems in Engineering

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Decoupled parallel mechanisms (DPMs) have the characteristics of compact structure and simple control with wide applications. This paper presents a new method of type synthesis for DPMs by virtue of Lie groups and screw theory. The method consists of synthesis at limb level and configuration level. At limb level, Lie group is used to synthesize the limbs with required DOFs. At configuration level, screw theory is adopted to determine configuration with synthesized limbs that satisfy the type synthesis criteria of DPMs. The type synthesis criteria including limb decoupling and selection of the driving pairs are presented. Upon the formulation, the procedure of type synthesis of DPMs is developed. Type synthesis is conducted with the proposed method, which leads to new spatial and planar fully decoupled 2T1R mechanisms.

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Type synthesis of parallel mechanisms having the first class G_F sets and one-dimensional rotation

Cited by 29 publications

References 26 publications

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

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

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

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Type synthesis of parallel mechanisms having the first class GF sets and one-dimensional rotation

Cited by 29 publications

References 26 publications

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

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

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

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Type synthesis of parallel mechanisms having the first class G_F sets and one-dimensional rotation