Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis

Yang, Shuofei; Sun, Tao; Huang, Tian

doi:10.1016/j.mechmachtheory.2016.11.005

Cited by 75 publications

(23 citation statements)

References 19 publications

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“…By introducing Clifford algebra, Huo et al, [26,27] proposed an analytical approach for the determination of the motions/constraints, mobility and singularity of PMs. Based on the screw theory and the Chasles' theorem, Yang [28] presented a method for the type synthesis of 3T1R PMs with variable rotational axis. One main advantage of the GA-based method is that subspace can be added, subtracted, and intersected in its framework, which is beneficial to be carried out in automatic way.…”

Section: Introductionmentioning

confidence: 99%

Computer-aided mobility analysis of parallel mechanisms

Zhu

Shen

et al. 2020

Mechanism and Machine Theory

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To determine mobility properties is one of the most challenging issue in the analysis and synthesis of parallel manipulators (PMs). However, currently, the most used methods mainly rely on experiences and manual analysis, which led to inefficient implementation. The motivation of this paper is to present an automatic mobility analysis algorithm and software package for the researchers and designers with an effective and practical means. According to the topological design theory of PMs based on position and orientation characteristic (POC) equations, this paper proposes a set of computer algorithmic rules and procedures for automated mobility analysis of PMs in the most user-friendly and efficient way. Firstly, a complete digital information model for topological structures which has a mapping relationship with the POC of a PM is proposed. This model not only describes the dimension of the motion outputs, but also includes the mapping relationship between the output orientation and the axes of the kinematic joints. Secondly, algorithmic rules are established that convert the union and intersection operations of POC into binary logical operations and then the detailed algorithmic procedures for an automatic mobility analysis are presented. In what follows, a corresponding software for automatic mobility analysis is described. The software package is equipped with a GUI that facilitates the input and allows the visualization of the results. Finally, four typical examples are provided to show the effectiveness of the software package for most of parallel mechanisms (not including some paradoxical mechanisms).

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Section: Introductionmentioning

confidence: 99%

Computer-aided mobility analysis of parallel mechanisms

Zhu

Shen

et al. 2020

Mechanism and Machine Theory

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“…The parameterized topological models were further analyzed [21][22][23]. By filling in the gap between finite and instantaneous screw theory, Sun [24,25] succeeded in connecting topology analysis to the following performance analysis and even optimal design, which is a milestone in the topology synthesis of parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate

Lian

Wang

2019

Int J Adv Manuf Technol

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This paper deals with the elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate (PM-ATP) for assembling large components in aviation and aerospace. In the elastodynamic modeling, the PM-ATP is divided into four levels, i.e., element, part, substructure, and the whole mechanism. Herein, three substructures, including translation, bar, and ATP, are categorized according to the composition of the PM-ATP. Based on the kineto-elastodynamic (KED) method, differential motion equations of lower levels are formulated and assembled to build the elastodynamic model of the upper level. Degrees of freedom (DoFs) at connecting nodes of parts and deformation compatibility conditions of substructures are considered in the assembling. The proposed layer-by-layer method makes the modeling process more explicit, especially for the ATP having complex structures and multiple joints. Simulations by finite element software and experiments by dynamic testing system are carried out to verify the natural frequencies of the PM-ATP, which show consistency with the results from the analytical model. In the parameter sensitivity analysis, response surface method (RSM) is applied to formulate the surrogate model between the elastic dynamic performances and parameters. On this basis, differentiation of performance reliability to the parameter mean value and standard variance are adopted as the sensitivity indices, from which the main parameters that greatly affect the elastic dynamic performances can be selected as the design variables. The present works are necessary preparations for future optimal design. They can also provide reference for the analysis and evaluation of other PM-ATPs.

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“…Briot et al [14] presented a novel 4-DOF decoupled parallel manipulator with Schoenflies motions [15], called the Pantopteron-4. Yang et al [16] presented a hierarchical approach for type synthesis of limb structures of the PKMs having 3T1R motion with variable rotational axis.…”

Section: Introductionmentioning

confidence: 99%

Kinematic and dynamic analyses of a novel 4-DOF parallel mechanism

Pakzad

Akhbari

Mahboubkhah

2019

J Braz. Soc. Mech. Sci. Eng.

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This paper addresses the kinematical and dynamical analyses of a novel linearly actuated 4-DOF parallel kinematic machine, composing 3 translational and 1 rotational motion abilities. For this purpose, first, based on the closed loop vector theorem, the inverse kinematical relations of position, velocity and acceleration are derived. Then, employing the Euler's method, dynamics of the mechanism is analyzed. Afterward, a simulated dynamic model of the presented mechanism is developed utilizing SimMechanics, and for a specified trajectory of the moving platform, the applied forces are determined via two above mentioned methods. The results indicated that the two analytical and simulated models are in close accordance with together. Also, for different trajectories, the difference between the forces obtained from analytical model and the simulated one was less than 0.1 (N), which designates the accuracy of the model.

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Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis

Cited by 75 publications

References 19 publications

Computer-aided mobility analysis of parallel mechanisms

Computer-aided mobility analysis of parallel mechanisms

Elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate

Kinematic and dynamic analyses of a novel 4-DOF parallel mechanism

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