TY - GEN
T1 - A type synthesis method for parallel mechanisms based on SAKCs
AU - Shen, Huiping
AU - Sun, Chi Yu
AU - Zhang, Dan
AU - Yang, Ting Li
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - Extending Assur’s kinematic chain (AKC) principle of the planar mechanisms to space parallel mechanisms, this paper studies the composition principle based on the space Assur’s kinematic chain (SAKC) as well as the type synthesis method based on SAKCs for the parallel mechanisms (PM). First of all, a new expression for the PM composition based on SAKC is proposed, which has clearer physical meaning; Secondly, according to the principle of composition and the formula for calculating the value of the coupling degree k, 53 types of SAKCs with coupling degree k = 0–3 and the basic loop v = 1–5, as well as their analytical expressions, are presented. Also it is found that these SAKCs can express 40 types of SAKC structures which are the basic unit of PMs. Finally, a general and practical method for type design of PM is presented regarding SAKCs as the composition units and meeting the position and orientation characteristics (POC) set as the design goal. One example is illustrated.
AB - Extending Assur’s kinematic chain (AKC) principle of the planar mechanisms to space parallel mechanisms, this paper studies the composition principle based on the space Assur’s kinematic chain (SAKC) as well as the type synthesis method based on SAKCs for the parallel mechanisms (PM). First of all, a new expression for the PM composition based on SAKC is proposed, which has clearer physical meaning; Secondly, according to the principle of composition and the formula for calculating the value of the coupling degree k, 53 types of SAKCs with coupling degree k = 0–3 and the basic loop v = 1–5, as well as their analytical expressions, are presented. Also it is found that these SAKCs can express 40 types of SAKC structures which are the basic unit of PMs. Finally, a general and practical method for type design of PM is presented regarding SAKCs as the composition units and meeting the position and orientation characteristics (POC) set as the design goal. One example is illustrated.
KW - Coupling degree
KW - Ordered single-open-chain unit
KW - Parallel mechanism
KW - Position and orientation characteristics
KW - SAKCs
KW - Type synthesis
UR - http://www.scopus.com/inward/record.url?scp=84992643463&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-45450-4_3
DO - 10.1007/978-3-319-45450-4_3
M3 - Conference article published in proceeding or book
AN - SCOPUS:84992643463
SN - 9783319454498
T3 - Mechanisms and Machine Science
SP - 25
EP - 36
BT - New Advances in Mechanisms, Mechanical Transmissions and Robotics - Proceedings of The Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics, Robotics 2016
A2 - Lovasz, Erwin-Christian
A2 - Maniu, Inocentiu
A2 - Gruescu, Corina
A2 - Corves, Burkhard
A2 - Husing, Mathias
PB - Kluwer Academic Publishers
T2 - Joint International Conference of the 12th International Conference on Mechanisms and Mechanical Transmissions, MTM 2016 and the 23rd International Conference on Robotics, Robotics 2016
Y2 - 26 October 2016 through 27 October 2016
ER -