Structural synthesis for a lower-mobility parallel kinematic machine with swivel hinges

被引：10
|
作者：
Xie, H. [1 ]
Li, S. [1 ]
Shen, Y. F. [1 ]
Cao, S. W. [1 ]
Cai, W. [1 ]
机构：
[1] Tongji Univ, Coll Mech Engn, Shanghai 200092, Peoples R China
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2014年 / 30卷 / 05期
关键词：
Series of parallel mechanisms; Swivel hinges; Structural synthesis; Lower-mobility; POC; SOC;
D O I：
10.1016/j.rcim.2014.01.001
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, a novel parallel kinematic machine is proposed. Its active platform (main supporting spindle) is manufactured with swivel hinges, that is, we substitute the spherical hinge with a swivel hinge. The active platform is also divided into several layers, which alters the characteristics of a singlelayer-platform parallel machine. This paper applies a comprehensive structural approach based on position and orientation characteristics (POC). Each single open chain (SOC) is studied independently from the whole mechanism; we also analyse the POC of each kinematic pair. By the method of union, we obtain the POC matrix of the output motion of each link. Based on the verification of the 5-DOF (degree of freedom) parallel kinematic machine, we construct 3-DOF and 4-DOF parallel mechanisms with swivel hinges through the combination and union of different chains, and develop them into a series. (c) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：413 / 420
页数：8
相关论文
共 50 条
  • [1] The kinematics and type synthesis of lower-mobility parallel robot manipulators
    Huang, Z
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 65 - 76
  • [2] Structural Synthesis Based on POC Set for Lower-Mobility Non-overconstrained Parallel Mechanisms
    Zhu, Xiaorong
    Yao, Xin
    Shen, Huiping
    Sun, Chen
    Yang, Tingli
    ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II, 2016, 36 : 327 - 338
  • [3] Displacement manifold method for type synthesis of lower-mobility parallel mechanisms
    Qinchuan Li
    Zhen Huang
    Jacques Marie Hervé
    Science in China Series E: Technological Sciences, 2004, 47 : 641 - 650
  • [4] Displacement manifold method for type synthesis of lower-mobility parallel mechanisms
    Jacques Marie Hervé
    Science in China(Series E:Technological Sciences), 2004, (06) : 641 - 650
  • [5] Kinematic and dynamic analysis of lower-mobility cooperative arms
    Long, Philip
    Khalil, Wisama
    Caro, Stephane
    ROBOTICA, 2015, 33 (09) : 1813 - 1834
  • [6] Type synthesis for lower-mobility decoupled parallel mechanism with redundant constraints
    Qu, Shuwei
    Li, Ruiqin
    Ma, Chunsheng
    Li, Hong
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2021, 35 (06) : 2657 - 2666
  • [7] Type synthesis for lower-mobility decoupled parallel mechanism with redundant constraints
    Shuwei Qu
    Ruiqin Li
    Chunsheng Ma
    Hong Li
    Journal of Mechanical Science and Technology, 2021, 35 : 2657 - 2666
  • [8] Displacement manifold method for type synthesis of lower-mobility parallel mechanisms
    Li, QC
    Huang, Z
    Herve, JM
    SCIENCE IN CHINA SERIES E-TECHNOLOGICAL SCIENCES, 2004, 47 (06): : 641 - 650
  • [9] Lower-Mobility Parallel Robots: Theory and Applications
    Huang, Zhen
    Xi, Fengfeng
    Huang, Tian
    Dai, Jian Sheng
    Sinatra, Rosario
    ADVANCES IN MECHANICAL ENGINEERING, 2010,
  • [10] 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
12345