Research Papers

Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms

[+] Author and Article Information
Huafeng Ding

College of Mechanical Engineering and
Applied Electronics Technology,
Beijing University of Technology,
Beijing 100124, China
Hebei Provincial Key Laboratory of Parallel Robot
and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: dhf@ysu.edu.cn

Peng Huang

Hebei Provincial Key Laboratory of Parallel Robot
and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: h1985p@163.com

Jingfang Liu

College of Mechanical Engineering and
Applied Electronics Technology,
Beijing University of Technology,
Beijing 100124, China
e-mail: jfliu@bjut.edu.cn

Andrés Kecskeméthy

Chair for Mechanics and Robotics
University of Duisburg-Essen,
Duisburg 47057, Germany
e-mail: andres.kecskemethy@uni-due.de

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 28, 2011; final manuscript received April 18, 2013; published online September 11, 2013. Assoc. Editor: Qiaode Jeffrey Ge.

J. Mechanisms Robotics 5(4), 041006 (Sep 11, 2013) (10 pages) Paper No: JMR-11-1098; doi: 10.1115/1.4024919 History: Received August 28, 2011; Revised April 18, 2013

Conception of the kinematic structures with better performance has been a challenging, yet pivotal issue, since the beginning of the design of mechanisms or robots. This paper proposes a systematic method to synthesize and classify automatically all the valid kinematic structures of planar 3-DOF closed loop mechanisms or robots. First, after the structure representation graphs of planar mechanisms or robots are addressed, the unique representation of both contracted graphs and topological graphs is proposed and used to detect isomorphism in the synthesis process. Then the valid atlas database of the contracted graphs for planar 3-DOF closed loop mechanisms or robots up to 16-link is built. Based on the atlas database, an automatic synthesis method is proposed to synthesize all the kinematic structures of planar 3-DOF closed loop mechanisms or robots, and the complete atlas database with all the valid kinematic structures classified for planar 3-DOF closed loop mechanisms or robots up to 16-link is established. The creative design of 3-DOF heavy-load hydraulic robots is conducted to show the usefulness of the established atlas database.

Copyright © 2013 by ASME
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Grahic Jump Location
Fig. 4

Unique labeling of edges for the contracted graph in Fig. 1(e)

Grahic Jump Location
Fig. 2

A contracted graph for 3-DOF mechanisms with 16 links

Grahic Jump Location
Fig. 1

(a) A hydraulic excavator, (b) the main mechanism, (c) its kinematic chain, (d) its topological graph, and (e) its contracted graph

Grahic Jump Location
Fig. 11

Other 24 feasible kinematic structures of 3-DOF heavy-load hydraulic robots

Grahic Jump Location

The contracted graph corresponding to “[8,3,0,1]”



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