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Research Papers

Type Synthesis of Parallel Mechanisms Having the Second Class GF Sets and Two Dimensional Rotations

[+] Author and Article Information
Feng Gao1

State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, Chinafengg@sjtu.edu.cn

Jialun Yang

State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, Chinajialunyang@gmail.com

Qiaode Jeffrey Ge

Department of Mechanical Engineering, Computational Design Kinematics Laboratory, Stony Brook University, Stony Brook, NY 11794-2300qiaode.ge@stonybrook.edu

1

Corresponding author.

J. Mechanisms Robotics 3(1), 011003 (Nov 23, 2010) (8 pages) doi:10.1115/1.4002697 History: Received March 04, 2010; Revised September 25, 2010; Published November 23, 2010; Online November 23, 2010

With the introduction of generalized function sets (GF set) to represent the characteristics of the end-effectors of parallel mechanisms, two classes of GF sets are proposed. The type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations, including 2-, 3-, and 4DOF parallel mechanisms, is investigated. First, the intersection algorithms for the GF sets are established via the axiom of two dimensional rotations. Second, the kinematic limbs with specific characteristics are designed according to the axis movement theorem. Finally, several parallel mechanisms having the second class GF sets and two dimensional rotations have been illustrated to show the effectiveness of the proposed methodology.

Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Components of characteristics of end-effectors

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Figure 2

Sketch for the axiom of two dimensional rotations

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Figure 3

Intersection of a first class GF set and a second class GF set

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Figure 4

Intersection of two second class GF sets

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Figure 5

Intersection of two first class GF sets

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Figure 6

Kinematic limbs with the characteristics of GFII(RαRβ0;Ta00)

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Figure 7

Kinematic limbs with the characteristics of GFII(RαRβRγ;Ta00)

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Figure 8

Kinematic limbs with the characteristics of GFII(RαRβ0;TaTb0)

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Figure 9

Kinematic limbs with the characteristics of GFII(RαRβRγ;TaTb0)

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Figure 10

Kinematic limbs with the characteristics of GFI(TaTbTc;RαRβ0)

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Figure 11

Kinematic limbs with the characteristics of GFI(TaTbTc;RαRβRγ)

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Figure 12

The characteristics of the end-effector of the parallel mechanism are GFII(RαRβ0;TaTb0)

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Figure 13

The characteristics of the end-effector of the parallel mechanism are GFII(RαRβ0;Ta00)

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Figure 14

The characteristics of the end-effector of the parallel mechanism are GFII(RαRβ0;Ta00)

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Figure 15

The characteristics of the end-effector of the parallel mechanism are GFII(RαRβ0;000)

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