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Research Papers

Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate

[+] Author and Article Information
Tao Sun

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: stao@tju.edu.cn

Yimin Song

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: ymsong@tju.edu.cn

Hao Gao

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: haooah3008@163.com

Yang Qi

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: qiyang1900@163.com

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 27, 2014; final manuscript received August 25, 2014; published online December 4, 2014. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 7(3), 031015 (Aug 01, 2015) (9 pages) Paper No: JMR-14-1116; doi: 10.1115/1.4028626 History: Received May 27, 2014; Revised August 25, 2014; Online December 04, 2014

Driven by the increasing demands of the aircraft assemblage for the pose-adjustment equipment in the large-scale component docking, this paper carries out the topology synthesis of a 1-translational and 3-rotational (1T3R) four degrees of freedom (DoF) parallel manipulator with an articulated traveling plate. First, the articulated traveling plate is defined as that includes more than one rigid body articulated by one or more kinematic joints. Then, the relationship among the DoFs of the parallel manipulator and the articulated traveling plate and the number of the in-parts are proposed. According to the agreement of the arrangement way between the open-loop limbs and the in-parts, the topology synthesis procedure of the 1T3R 4-DoF parallel manipulator with an articulated traveling plate is proposed. Finally, their topology structures are obtained by discussing those of four types in terms of 1D-H, 1D-V type with opposite layout and 1D-H, 1D-V type with adjacent layout, in which the topology structures exist only for 1D-H and 1D-V type with opposite layout

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Figures

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Fig. 1

Schematic diagram of 1D-H type articulated traveling plate

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Fig. 2

Schematic diagram of 1D-V type articulated traveling plate

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Fig. 3

Schematic diagrams of two typical 2D type articulated traveling plate

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Fig. 4

Three mechanical structures of 1D-V type articulated traveling plate

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Fig. 5

Schematic diagram of 1T3R parallel manipulators with an articulated traveling plate

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Fig. 6

Topology synthesis procedure of 1T3R parallel manipulator with an articulated traveling plate

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Fig. 7

1D-H type with opposite layout in terms of four-dimensional submanifold. (a) The eighth four-dimensional submanifold and (b) the ninth four-dimensional submanifold.

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Fig. 8

1D-H type with opposite layout in terms of five-dimensional submanifold. (a) The eighth expanded five-dimensional submanifold and (b) the ninth expanded five-dimensional submanifold.

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Fig. 9

1D-V type with opposite layout in terms of four-dimensional submanifold. (a) The eighth four-dimensional submanifold and (b) the ninth four-dimensional submanifold.

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Fig. 10

1D-V type with opposite layout in terms of five-dimensional submanifold. (a) The eighth expanded five-dimensional submanifold and (b) the ninth expanded five-dimensional submanifold.

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