Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform

被引：4
|
作者：
Yi, Byung-Ju [1 ]
Kim, Whee Kuk [2 ]
机构：
[1] Hanyang Univ, Dept Elect Syst Engn, Ansan, South Korea
[2] Korea Univ, Dept Electromech Syst Engn, Sejong, South Korea
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2018年 / 32卷 / 11期
关键词：
Lower mobility; Parallel mechanism; Screw theory; Synthesis; Task-oriented; LIE GROUP; MANIPULATORS; 4-DOF; 3-DOF;
D O I：
10.1007/s12206-018-1036-5
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A systematic procedure for the task-oriented type synthesis of parallel mechanisms (PMs) with a common platform is proposed in this study. The method is composed of two stages. In the first stage, constraint wrenches that are compatible to specific task-oriented output motions of the PM is distributed to several limbs. In the second stage, the geometric conditions and admissible joint structures of PM limbs are identified by employing the concept of reciprocal screw. Then desired symmetric or asymmetric PMs are constructed with the proper combinations of those admissible limbs. Lastly, the suggested synthesis method is verified by identifying various forms of lowermobility PMs, such as planar 1T-type PMs, spatial 2T-type PMs and spatial 1T2R-type PMs.
引用
收藏
页码：5373 / 5387
页数：15
相关论文
共 50 条
  • [31] Operation Modes in Lower-Mobility Parallel Manipulators
    Schadlbauer, Josef
    Nurahmi, Latifah
    Husty, Manfred
    Wenger, Philippe
    Caro, Stephane
    INTERDISCIPLINARY APPLICATIONS OF KINEMATICS, 2015, 26 : 1 - 9
  • [32] Forward/reverse velocity and acceleration analyses for a class of lower-mobility parallel mechanisms
    Zhu, Si J.
    Huang, Zhen
    Guo, Xi J.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B, 2005, : 949 - 955
  • [33] Mobility analysis of lower-mobility parallel manipulators based on screw theory
    Li, QC
    Huang, Z
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 1179 - 1184
  • [34] Static force analysis of lower-mobility parallel manipulators
    Li, Yonggang
    Song, Yimin
    Huang, Tian
    Zhang, Ce
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2007, 43 (09): : 80 - 83
  • [35] Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility
    Russo, Matteo
    Raimondi, Luca
    Dong, Xin
    Axinte, Dragos
    Kell, James
    Robotics and Computer-Integrated Manufacturing, 2021, 69
  • [36] Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility
    Russo, Matteo
    Raimondi, Luca
    Dong, Xin
    Axinte, Dragos
    Kell, James
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2021, 69
  • [37] LilyTask: A task-oriented parallel computation model
    Wang, T
    Li, XM
    ADVANCED PARALLEL PROCESSING TECHNOLOGIES, PROCEEDINGS, 2003, 2834 : 157 - 161
  • [38] Motion/Force Constrainability Analysis of Lower-Mobility Parallel Manipulators
    Liu, Xin-Jun
    Chen, Xiang
    Nahon, Meyer
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2014, 6 (03):
  • [39] Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle
    Amine, Semaan
    Kanaan, Daniel
    Caro, Stephane
    Wenger, Philippe
    ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE, 2010, : 273 - 282
  • [40] A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism
    Tian, Wenjie
    Shen, Ziqian
    Lv, Dongpo
    Yin, Fuwen
    ROBOTICA, 2020, 38 (12) : 2173 - 2188
12345