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Type Synthesis of Two Degrees-of-Freedom Rotational Parallel Mechanisms With a Fixed Center-of-Rotation Based on a Graphic Approach

[+] Author Affiliations
K. Wu, J. J. Yu, S. Z. Li, G. H. Zong

Beihang University, Beijing, China

Xianwen Kong

Heriot-Watt University, Edinburgh, UK

Paper No. DETC2012-71028, pp. 647-658; 12 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


Mechanisms usually have to be particularly designed to meet the high-performance requirements in terms of different applications. For instance, Two degrees of freedom (DOF) rotational parallel mechanisms (RPMs) with a fixed center-of-rotation can eliminate parasitic motion and could provide the rotary stage with excellent dynamic stability, good controllability and easy operation. Therefore, this paper mainly aims at synthesizing 2-DOF RPMs with fixed center-of-rotation, a class of special RPMs with potential excellent performances. A graphic approach based on freedom and constraint spaces is introduced firstly. The constraint spaces of a class of the existing 2-DOF RPMs are illustrated, and the corresponding type synthesis patterns are summarized by comparing the geometric properties of those spaces with the mechanism characteristic. After fully decomposing the four-dimensional constraint space into sub-constraint spaces, a general type synthesis procedure is proposed based on the freedom and constraint topology. Two novel 2-DOF RPMs with fixed center-of-rotation are constructed based on the proposed method and procedure. The proposed graphic approach proves to be effective and simple to synthesizing those parallel mechanisms with some special performance.

Copyright © 2012 by ASME



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