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Type Synthesis of Parallel Mechanisms Having Two Rotations

[+] Author Affiliations
Feng Gao, Jialun Yang

Shanghai Jiao Tong University, Shanghai, China

Qiaode Jeffrey Ge

Stony Brook University, Stony Brook, NY

Paper No. DETC2010-29227, pp. 953-959; 7 pages
doi:10.1115/DETC2010-29227
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

In the last few decades, researchers have proposed a few different methods to synthesize parallel mechanisms. In this paper, we propose both the natural law for kinematic mobility and the generalized function sets (GF set for short) which are used for the type synthesis of parallel mechanisms, particularly for those having two rotations. The natural law for kinematic mobility lays the foundation for the algorithms of the intersection of GF sets. Moreover, the GF sets are used for describing the performance criteria of the end-effectors of robotic manipulators in a clear and systematic way, including the mechanisms having two rotations. Finally, several novel parallel mechanisms having two rotations have been illustrated to show the effectiveness of the proposed methodology.

Copyright © 2010 by ASME

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