The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of...The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of hybrid kinematic mechanisms( HKMs). This paper presents a very simple yet very effective method of structural synthesis for HKM based on the set theory. The basic concept and mathematical operation of Generalized Function Set( G_F set) are firstly introduced. Based on G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and HKMs is presented,respectively. Especially,a detailed algorithm of type synthesis for HKM is proposed as well. It is shown that type synthesis of HKM can be developed by the combination of elements of G_F setand rotation axis transfer theorem. In order to demonstrate the applicability of the type synthesis principle presented in the paper,structure synthesis of 2T3 R HKMs are accomplished,where T and R denote translational and rotational degree-of-freedom( DoF),respectively. And further research shows that the structures of 2T3 R HKMs can be categorized into two types,i. e.,G(_F~Ⅰ) and G(_F~Ⅱ).展开更多
Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially ...Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially for the four degrees of freedom（DOF） hybrid mechanisms.In order to develop a manipulator with additional constraints,a class of important spatial mechanisms with coupling chains（CCs） whose motion type is two rotations and two translations（2R2T） is presented.Based on screw theory,the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed.The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method.Moreover,the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains（SKCs） of the corresponding parallel mechanisms are presented.According to the constraint analysis of the mechanisms,the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains.At last,fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented.The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms.展开更多
The structural synthesis of mechanisms is a prerequisite of mechanical design,thereby,it is necessary to pay attention to the structural synthesis of mechanisms,especially for the type synthesis of hybrid mechanisms.A...The structural synthesis of mechanisms is a prerequisite of mechanical design,thereby,it is necessary to pay attention to the structural synthesis of mechanisms,especially for the type synthesis of hybrid mechanisms.A very simple yet very effective method was presented for the structural synthesis of hybrid mechanisms based on the set theory.The basic concept and mathematical operation of G_F set were firstly introduced.Based on the G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and hybrid mechanisms was presented,especially,a detailed algorithm of type synthesis for hybrid mechanisms was proposed as well.It is shown that type synthesis of hybrid mechanisms can be developed by the combination of elements of G_F set and rotation axis transfer theorem.Further investigation shows that structures of 3T2R fivedegree-of-fteedom(DoF) hybrid mechanism only have one category,i.e.,G_F^I.Finally structural synthesis of 3T2R hybrid mechanism for this category is illustrated with example to demonstrate the applicability of the type synthesis principle.展开更多
基金National Natural Science Foundations of China(Nos.50905075,51505190)the Six Talent Peaks Project in Jiangsu Province,China(No.ZBZZ-012)+2 种基金the Open Project of the State Key Laboratory of Robotics and System of China(No.SKLRS-2016-KF-06)the Open Project of the Key Laboratory of System Control and Information Processing,China(No.Scip201506)the Research and the Innovation Project for College Graduates of Jiangsu Province,China(No.SJZZ16-0212)
文摘The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of hybrid kinematic mechanisms( HKMs). This paper presents a very simple yet very effective method of structural synthesis for HKM based on the set theory. The basic concept and mathematical operation of Generalized Function Set( G_F set) are firstly introduced. Based on G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and HKMs is presented,respectively. Especially,a detailed algorithm of type synthesis for HKM is proposed as well. It is shown that type synthesis of HKM can be developed by the combination of elements of G_F setand rotation axis transfer theorem. In order to demonstrate the applicability of the type synthesis principle presented in the paper,structure synthesis of 2T3 R HKMs are accomplished,where T and R denote translational and rotational degree-of-freedom( DoF),respectively. And further research shows that the structures of 2T3 R HKMs can be categorized into two types,i. e.,G(_F~Ⅰ) and G(_F~Ⅱ).
基金Supported by National Natural Science Foundation of China(Grant Nos.51175029,51475035)
文摘Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially for the four degrees of freedom（DOF） hybrid mechanisms.In order to develop a manipulator with additional constraints,a class of important spatial mechanisms with coupling chains（CCs） whose motion type is two rotations and two translations（2R2T） is presented.Based on screw theory,the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed.The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method.Moreover,the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains（SKCs） of the corresponding parallel mechanisms are presented.According to the constraint analysis of the mechanisms,the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains.At last,fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented.The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms.
基金National Natural Science Foundation of China(No.50905075)the Fundamental Research Funds for the Central Universities,China(No.JUSRP51316B)+3 种基金the Open Project of the State Key Laboratory of Mechanical System and Vibration of China(No.M SV201407)the Open Project of Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,China(No.FM-201402)the Research and the Innovation Project for College Graduates of Jiangsu Province,China(No.KYLX-1115)Natural Science Foundation of Anhui Province,China(No.1308085QE78)
文摘The structural synthesis of mechanisms is a prerequisite of mechanical design,thereby,it is necessary to pay attention to the structural synthesis of mechanisms,especially for the type synthesis of hybrid mechanisms.A very simple yet very effective method was presented for the structural synthesis of hybrid mechanisms based on the set theory.The basic concept and mathematical operation of G_F set were firstly introduced.Based on the G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and hybrid mechanisms was presented,especially,a detailed algorithm of type synthesis for hybrid mechanisms was proposed as well.It is shown that type synthesis of hybrid mechanisms can be developed by the combination of elements of G_F set and rotation axis transfer theorem.Further investigation shows that structures of 3T2R fivedegree-of-fteedom(DoF) hybrid mechanism only have one category,i.e.,G_F^I.Finally structural synthesis of 3T2R hybrid mechanism for this category is illustrated with example to demonstrate the applicability of the type synthesis principle.
