TY - GEN
T1 - Graph Synthesis of Generalized Parallel Mechanisms with Coupling Sub-chains
AU - Tian, Chunxu
AU - Li, Luquan
AU - Xia, Zhihao
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023/7
Y1 - 2023/7
N2 - Over the past few decades, there has been extensive research conducted in both academia and industry on conventional parallel manipulators. However, the exploration of generalized parallel mechanisms with coupling sub-chains has received limited attention. This paper introduces a novel approach to synthesizing parallel mechanisms with additional connecting sub-chains, focusing on number synthesis and graph representation. To develop manipulators with additional constraints, this study constructs contracted graphs with different loops. The contracted graphs are represented by arrays, which denote the connectivity relationships among associated linkages, leading to the discovery of new contracted graphs. Besides, the connective array is introduced to identify isomorphic and invalid contracted graphs, while also analyzing specific contracted graph variations. Furthermore, this paper deduces the evolutionary process of contracted graphs, resulting in the derivation of all available topological arrangements. This innovative method for graph synthesis of parallel mechanisms with coupling sub-chains has the potential to expand the range of available options within the family of generalized parallel mechanisms.
AB - Over the past few decades, there has been extensive research conducted in both academia and industry on conventional parallel manipulators. However, the exploration of generalized parallel mechanisms with coupling sub-chains has received limited attention. This paper introduces a novel approach to synthesizing parallel mechanisms with additional connecting sub-chains, focusing on number synthesis and graph representation. To develop manipulators with additional constraints, this study constructs contracted graphs with different loops. The contracted graphs are represented by arrays, which denote the connectivity relationships among associated linkages, leading to the discovery of new contracted graphs. Besides, the connective array is introduced to identify isomorphic and invalid contracted graphs, while also analyzing specific contracted graph variations. Furthermore, this paper deduces the evolutionary process of contracted graphs, resulting in the derivation of all available topological arrangements. This innovative method for graph synthesis of parallel mechanisms with coupling sub-chains has the potential to expand the range of available options within the family of generalized parallel mechanisms.
KW - Associated Linkage
KW - Constructed Graph
KW - Coupling Sub-chain
KW - Generalized Parallel Mechanism
KW - Graph Synthesis
UR - http://www.scopus.com/inward/record.url?scp=85175948546&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6504-5_7
DO - 10.1007/978-981-99-6504-5_7
M3 - Conference article published in proceeding or book
AN - SCOPUS:85175948546
SN - 9789819965038
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 76
EP - 87
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -