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Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory

Published online by Cambridge University Press:  26 April 2011

Sheng Guo ,
Yuefa Fang  and
Haibo Qu
Sheng Guo
Affiliation:
Robotics Research Lab, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China. E-mails: shguo@bjtu.edu.cn, yffang@bjtu.edu.cn
Yuefa Fang
Affiliation:
Robotics Research Lab, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China. E-mails: shguo@bjtu.edu.cn, yffang@bjtu.edu.cn
Haibo Qu*
Affiliation:
Robotics Research Lab, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China. E-mails: shguo@bjtu.edu.cn, yffang@bjtu.edu.cn
*
*Corresponding author. E-mail: hbqu.andy@gmail.com
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Summary

A systematic method is developed for the type synthesis of 4-DOF nonoverconstrained parallel mechanisms with three translations and one rotation inspired by the design of H-4. First, the motion requirements of primary platform and secondary platform of the 4-DOF nonoverconstrained parallel mechanisms are analyzed, and the conflict between the number of actuators and the constraint system for nonoverconstrained parallel mechanism is solved. Then, the research topic of type synthesis of 4-DOF nonoverconstrained parallel mechanisms is transformed into the type synthesis of the secondary platform with three translational DOF linked by two chains. On the basis of the screw and reciprocal theory, all possible secondary limbs with 3-DOF, 4-DOF, and 5-DOF are synthesized, respectively. Finally, the configurations and spatial assembly conditions of all possible secondary limbs are provided and some typical mechanisms are sketched as examples.

Keywords

Parallel manipulatorType synthesisFractalNonoverconstrainedScrew theory
Type
Articles
Information
Robotica , Volume 30 , Issue 1 , January 2012 , pp. 31 - 37
Copyright
Copyright © Cambridge University Press 2011

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