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Type synthesis of spatial 3-DoF parallel mechanisms with planar sub-chains using revised digital topological graphs and arrays

Published online by Cambridge University Press:  10 July 2015

Yi Lu ,
Nijia Ye  and
Ling Ding
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China Advanced metal forming key laboratory of Education Ministry & Parallel robot key laboratory of Hebei, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Nijia Ye
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Ling Ding
Affiliation:
College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. Email: luyi@ysu.edu.cn
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Summary

Type synthesis of spatial 3-DoF (degree of freedom) parallel mechanisms (PMs) with planar sub-chains is studied using the revised digital topology graph (r-DTGs) and arrays. First, many DTGs for type synthesis of spatial 3-DoF PMs are derived from their contracted graphs (CGs). Second, a complicated derivation of the DTG and an identification of an isomorphic DTG are transformed into a simple derivation of an array and an identification of an isomorphic array using a compiled program. Third, one or more spatial closed-loop chains in the derived DTGs are changed into the planar closed-loop chains by modifying digits marked in closed-loop chains, and the DTGs are transformed into the r-DTGs for the type synthesis of the spatial 3-DoF PMs with planar sub-chains. Finally, the 52 novel spatial 3-DoF PMs with the planar sub-chains are synthesized and verified by simulation mechanisms.

Keywords

Type synthesisSpatial closed-loop chainPlanar closed-loop chainTopological graphArray
Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 370 - 383
Copyright
Copyright © Cambridge University Press 2015 

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