Structural Synthesis of Parallel Mechanisms with High Rotational Capability

Most parallel mechanisms (PMs) encountered today have a common disadvantage, i.e., their low rotational capability. In order to develop PMs with high rotational capability, a family of novel manipulators with one or two dimensional rotations is proposed. The planar one-rotational one-translational (...

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Bibliographic Details
Published inChinese journal of mechanical engineering Vol. 31; no. 1; pp. 65 - 75
Main Authors Jin, Xiao-Dong, Fang, Yue-Fa, Guo, Sheng, Qu, Hai-Bo
Format Journal Article
LanguageEnglish
Published Singapore Springer Singapore 01.12.2018
Springer Nature B.V
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
EditionEnglish ed.
Subjects
Bifurcation theory
Construction methods
Electrical Machines and Networks
Electronics and Microelectronics
Engineering
Engineering Thermodynamics
Group theory
Heat and Mass Transfer
Instrumentation
Lie groups
Machines
Manufacturing
Mechanical Engineering
Mechanism and Robotics
Original Article
Power Electronics
Processes
Theoretical and Applied Mechanics
Parallel mechanism
Lie group theory
Hybrid mechanism
Rotational capability
Bifurcated motion
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Summary:Most parallel mechanisms (PMs) encountered today have a common disadvantage, i.e., their low rotational capability. In order to develop PMs with high rotational capability, a family of novel manipulators with one or two dimensional rotations is proposed. The planar one-rotational one-translational (1R1T) and one-rotational two-translational (1R2T) PMs evolved from the crank-and-rocker mechanism (CRM) are presented by means of Lie group theory. A spatial 2R1T PM and a 2R parallel moving platform with bifurcated large-angle rotations are proposed by orthogonal combination of the RRRR limbs. According to the product principle of the displacement group theory, a hybrid 2R3T mechanism in possession of bifurcated motion is obtained by connecting the 2R parallel moving platform with a parallel part, which is constructed by four 3T1R kinematic chains. The presented manipulators possess high rotational capability. The proposed research enriches the family of spatial mechanisms and the construction method provides an instruction to design more complex mechanisms.
ISSN:1000-9345
2192-8258
DOI:10.1186/s10033-018-0260-3