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The GF Sets: A New Kind of Performance Criterion of Mechanisms

[+] Author Affiliations
Xiangdun Meng, Feng Gao

Shanghai Jiao Tong University, Shanghai, China

Jialun Yang

China Electric Power Research Institute, Beijing, China

Paper No. DETC2012-70795, pp. 559-564; 6 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The fundamental work of type synthesis of robot mechanisms is to research and develop the performance criterion for evaluating the characteristics of robot end-effectors and consequently come up with the classification of mechanisms. The motion characteristics of end-effectors contain translation and rotation. Traditionally, mechanisms are classified only according to the existence and quantity of these two kinds of motion characteristics without considering the succession of motion, which has remarkable influence on the topological performance property of end-effectors. In this paper, we propose the conception of rotational completeness, which describes the rotational ability of end-effectors, based on the axis movement theorem. The GF Sets are classified into three categories according to the rotational completeness of end-effectors. We enumerated all three classes of GF sets and illustrated the effectiveness of GF sets in evaluating the characteristics of robot end-effectors.

Copyright © 2012 by ASME



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