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A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms

Published online by Cambridge University Press:  04 June 2018

Tian Huang ,
Chenglin Dong ,
Haitao Liu ,
Tao Sun  and
Derek G. Chetwynd
Tian Huang
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072, China. E-mails: tianhuang@tju.edu.cn, chenglindong_tju@tju.edu.cn, stao@tju.edu.cn School of Engineering, The University of Warwick, Coventry CV4 7AL, UK. E-mail: D.G.Chetwynd@warwick.ac.uk
Chenglin Dong
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072, China. E-mails: tianhuang@tju.edu.cn, chenglindong_tju@tju.edu.cn, stao@tju.edu.cn
Haitao Liu*
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072, China. E-mails: tianhuang@tju.edu.cn, chenglindong_tju@tju.edu.cn, stao@tju.edu.cn
Tao Sun
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072, China. E-mails: tianhuang@tju.edu.cn, chenglindong_tju@tju.edu.cn, stao@tju.edu.cn
Derek G. Chetwynd
Affiliation:
School of Engineering, The University of Warwick, Coventry CV4 7AL, UK. E-mail: D.G.Chetwynd@warwick.ac.uk
*
*Corresponding author. E-mail: liuht@tju.edu.cn
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Summary

This paper presents a simple and highly visual approach for the type synthesis of a family of overconstrained parallel mechanisms that have one translational and two rotational movement capabilities. It considers, especially, mechanisms offering the accuracy and dynamic response needed for machining applications. This family features a spatial limb plus a member of a class of planar symmetrical linkages, the latter connected by a revolute joint either to the machine frame at its base link or to the platform at its output link. Criteria for selecting suitable structures from among numerous candidates are proposed by considering the realistic practical requirements for reconfigurability, movement capability, rational component design and so on. It concludes that a few can simultaneously fulfil the proposed criteria, even though a variety of structures have been presented in the literature. Exploitation of the proposed structures and evaluation criteria then leads to a novel five degrees of freedom hybrid module named TriMule. A significant potential advantage of the TriMule over the Tricept arises because all the joints connecting the base link and the machine frame can be integrated into one single, compact part, leading to a lightweight, cost effective and flexible design particularly suitable for configuring various robotized manufacturing cells.

Keywords

Parallel mechanismsType synthesisConceptual design
Type
Articles
Information
Robotica , Volume 37 , Special Issue 7: Computational Kinematics Conference, CK 2017 , July 2019 , pp. 1161 - 1173
Copyright
© Cambridge University Press 2018 

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