Type synthesis of parallel mechanisms having the first class gf sets and one-dimensional rotation

  • Authors:

  • Jialun Yang;Feng Gao;Qiaode jeffrey Ge;Xianchao Zhao;Weizhong Guo;Zhenlin Jin

  • Affiliations:

  • State key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200030, p.r. china;State key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200030, p.r. china;Computational design kinematics laboratory, department of mechanical engineering, stony brook university, stony brook, ny 11794-2300, usa;State key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200030, p.r. china;State key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200030, p.r. china;Robotic research center, school of mechanical engineering, yanshan university, qinhuangdao 066004, p.r. china

  • Venue:
  • Robotica
  • Year:
  • 2011

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Abstract

A method is presented for the type synthesis of a class of parallel mechanisms having one-dimensional (1D) rotation based on the theory of Generalized Function sets (GF sets for short), which contain two classes. The type synthesis of parallel mechanisms having the first class GF sets and 1D rotation is investigated. The Law of one-dimensional rotation is given, which lays the theoretical foundation for the intersection operations of GF sets. Then the kinematic limbs with specific characteristics are designed according to the 2D and 3D axis movement theorems. Finally, several synthesized parallel mechanisms have been sketched to show the effectiveness of the proposed methodology.