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Type Synthesis of Multi-Loop Spatial Mechanisms With Three Translational Output Parameters Based on Virtual-Loop Theory and Assur Groups

Published online by Cambridge University Press:  01 February 2019

Xing Zhang Open the ORCID record for Xing Zhang [Opens in a new window] ,
Dejun Mu ,
Yitong Zhang ,
Henghao You  and
Hongrui Wang
Xing Zhang*
Affiliation:
Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, 066004, China. E-mail: hongrui@hbu.edu.cn
Dejun Mu
Affiliation:
Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China. E-mails: djmu@ysu.edu.cn; ytzhang@ysu.edu.cn; youhenghao@163.com Key Lab of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, China
Yitong Zhang
Affiliation:
Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China. E-mails: djmu@ysu.edu.cn; ytzhang@ysu.edu.cn; youhenghao@163.com Key Lab of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, China
Henghao You
Affiliation:
Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China. E-mails: djmu@ysu.edu.cn; ytzhang@ysu.edu.cn; youhenghao@163.com Key Lab of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, China
Hongrui Wang
Affiliation:
Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, 066004, China. E-mail: hongrui@hbu.edu.cn
*
*Corresponding author. E-mail: xing-zhang@foxmail.com
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Summary

This paper presents a new approach to synthesize multi-loop mechanisms with three translational displacement parameters based on virtual-loop theory and Assur groups. The approach used kinematic links as a generalized link group added one-by-one to the output link, which further extends the unified link groups in the plane and space. Firstly, the concept of infinitesimal displacement parameters is introduced to describe the displacement parameters. The dependence on the change in the degree of freedom (DOF) and displacement parameters of the output link after adding a 0-DOF generalized link group is established. Then, the link groups with three displacement parameters are synthesized, and the intersection operation rules are given. The single-loop mechanism is synthesized under two circumstances. The 1-, 2-, and 3-DOF dual-loop mechanisms are obtained by adding corresponding generalized link groups. Finally, the multi-loop mechanisms are obtained by adding corresponding generalized link groups. Some novel mechanisms are synthesized to illustrate the effectiveness of the proposed approach.

Keywords

Virtual-loopType synthesisMulti-loop mechanismGeneralized link groupThree translational parameters
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1104 - 1119
Copyright
© Cambridge University Press 2019 

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