Hostname: page-component-7b7567c8c-2n9c9 Total loading time: 0 Render date: 2026-11-15T11:19:25.668Z Has data issue: false hasContentIssue false
  • English
  • Français

Mobility analysis and structural synthesis of a class of spatial mechanisms with coupling chains

Published online by Cambridge University Press:  23 April 2015

Wen-ao Cao,
Huafeng Ding,
Ziming Chen and
Shipei Zhao
Wen-ao Cao
Affiliation:
Faculty of Mechanical & Electronic Information, China University of Geosciences, 430074, Wuhan, P. R. ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
Huafeng Ding*
Affiliation:
Faculty of Mechanical & Electronic Information, China University of Geosciences, 430074, Wuhan, P. R. ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. ChinaState Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, 200240, Shanghai, P. R. China
Ziming Chen
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
Shipei Zhao
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
*
*Corresponding author. E-mail: dhf@ysu.edu.cn
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

This paper presents a systematic method for dealing with mobility analysis and structural synthesis of a class of important spatial mechanisms with coupling chains, which involve more complex coupling relations than spatial parallel mechanisms. First, an approach to the establishment of the motion screw equation of the class of mechanisms is derived. Then, a general methodology for mobility analysis along with detection of rigid substructures is proposed based on the motion screw equation. Third, the principle of structural synthesis of the class of mechanisms is established on the basis of the method of mobility analysis. Finally, some novel spatial mechanisms with coupling chains are synthesized, illustrating the effectiveness of the method. The study of the paper will benefit structural analysis and synthesis of more complex spatial mechanisms with coupling chains.

Keywords

Spatial mechanismCoupling chainMobility analysisRigid substructureStructural synthesis

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 11 , November 2016, pp. 2467 - 2485
Copyright
Copyright © Cambridge University Press 2015 

References

1. Ionescu, T. G., “Terminology for mechanisms and machine science,” Mech. Mach. Theory 38 (7–10), 597–901 (2003).Google Scholar
2. Dai, J. S. and Rees Jones, J., “Mobility in metamorphic mechanisms of foldable/erectable kinds,” J. Mech. Des. Trans. ASME 121 (3), 375–382 (1999).CrossRefGoogle Scholar
3. Grübler, M., “Allgemeine eigenschaften der zwangläufigen ebenen kinematischen ketten,” Part I, Zivilingenieur 29, 167–200 (1883).Google Scholar
4. Kutzbach, K., “Mechanische leitungsverzweigung, ihre gesetze und anwendungen,” Masch.bau, Betr. 8, 710–716 (1929).Google Scholar
5. Gogu, G., “Mobility of mechanisms: A critical review,” Mech. Mach. Theory 40 (9), 1068–1097 (2005).Google Scholar
6. Huang, Z. and Li, Q., “Type synthesis of symmetrical lowermobility parallel mechanisms using the constraint synthesis method,” Int. J. Robot. Res. 22 (1), 59–79 (2003).Google Scholar
7. Huang, Z., Li, Q. and Ding, H., Theory of Parallel Mechanisms (Springer, Dordrecht, 2012).Google Scholar
8. Kong, X. and Gosselin, C. M., Type Synthesis of Parallel Mechanisms (Springer, Berlin, 2007).Google Scholar
9. Fanghella, P. and Galletti, C., “Mobility analysis of single-loop kinematic chains: An algorithmic approach based on displacement groups,” Mech. Mach. Theory 29 (8), 1187–1204 (1994).CrossRefGoogle Scholar
10. Rico, J. M., Gallardo, J. and Ravani, B., “Lie algebra and the mobility of kinematic chains,” J. Robot. Syst. 20 (8), 477–499 (2003).CrossRefGoogle Scholar
11. Rico, J. M., Aguilera, L. D., Gallardo, J., Rodriguez, R., Orozco, H. and Barrera, J. M., “A more general mobility criterion for parallel platforms,” J. Mech. Des. Trans. ASME 128 (1), 207–219 (2006).CrossRefGoogle Scholar
12. Fang, Y. and Tsai, L. W., “Structure synthesis of a class of 4-dof and 5-dof parallel manipulators with identical limb structures,” Int. J. Robot. Res. 21 (9), 799–810 (2002).CrossRefGoogle Scholar
13. Herve, J. M., “Structural analysis of mechanisms by set or displacements,” Mech. Mach. Theory 13 (4), 437–450 (1978).Google Scholar
14. Fanghella, P. and Galletti, C., “Metric relations and displacement groups in mechanism and robot kinematics,” J. Mech. Des. Trans. ASME 117 (3), 470–478 (1995).CrossRefGoogle Scholar
15. Li, Q., Huang, Z. and Herve, J. M., “Displacement manifold method for type synthesis of lower-mobility parallel mechanisms,” Sci. China E 47 (6), 641–650 (2004).CrossRefGoogle Scholar
16. Meng, J., Liu, G. and Li, Z., “A geometric theory for analysis and synthesis of sub-6 dof parallel manipulators,” IEEE Trans. Robot. 23 (4), 625–649 (2007).CrossRefGoogle Scholar
17. Gao, F., Li, W., Zhao, X., Jin, Z. and Zhao, H., “New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs,” Mech. Mach. Theory 37 (11), 1395–1411 (2002).CrossRefGoogle Scholar
18. Gao, F., Yang, J. and Ge, Q. J., “Type synthesis of parallel mechanisms having the second class gf sets and two dimensional rotations,” J. Mech. Robot. 3 (1), 011003 (2011).CrossRefGoogle Scholar
19. Gogu, G., “Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations,” Eur. J. Mech. A 23 (6), 1021–1039 (2004).CrossRefGoogle Scholar
20. Cheng, G., Yuan, X., Yu, J.-l. and Ge, S.-r., “Kinematic calibration analysis of 3sps+1ps bionic parallel test platform for hip joint simulator,” Measurement 46 (10), 4152–4160 (2013).CrossRefGoogle Scholar
21. Li, D., Dai, J., Zhang, Q. and Jin, G., “Structure synthesis of metamorphic mechanisms based on the configuration transformations,” Chinese J. Mech. Eng. 38 (7), 12–16 (2002).CrossRefGoogle Scholar
22. Li, D., Zhang, Z. and Chen, G., “Structural synthesis of compliant metamorphic mechanisms based on adjacency matrix operations,” Chin. J. Mech. Eng. (Engl. ed.) 24 (4), 522–528 (2011).CrossRefGoogle Scholar
23. Li, S. and Dai, J. S., “Structure synthesis of single-driven metamorphic mechanisms based on the augmented assur groups,” J. Mech. Robot. 4 (3), 031004 (2012).CrossRefGoogle Scholar
24. Dai, J. S., Li, D., Zhang, Q. and Jin, G., “Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis,” Mech. Mach. Theory 39 (4), 445–458 (2004).CrossRefGoogle Scholar
25. Zoppi, M., Zlatanov, D. and Molfino, R., “On the velocity analysis of interconnected chains mechanisms,” Mech. Mach. Theory 41 (11), 1346–1358 (2006).CrossRefGoogle Scholar
26. Zeng, Q. and Fang, Y., “Algorithm for topological design of multi-loop hybrid mechanisms via logical proposition,” Robotica 30 (04), 599–612 (2011).CrossRefGoogle Scholar
27. Zeng, Q., Fang, Y. and Ehmann, K. F., “Topological structural synthesis of 4-DOF serial-parallel hybrid mechanisms,” J. Mech. Des. 133 (9), 091008 (2011).CrossRefGoogle Scholar
28. Hunt, K. H., Kinematic Geometry of Mechanisms (Oxford University Press, Oxford, 1978).Google Scholar
29. Davis, T. H., “Kirchhoff' s circulation law applied to multi-loop kinematic chains,” Mech. Mach. Theory 16 (3), 171–183 (1981).CrossRefGoogle Scholar