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Research Papers

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

[+] Author and Article Information
Rongfu Lin

School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: rongfulin@sjtu.edu.cn

Weizhong Guo

School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: wzguo@sjtu.edu.cn

Feng Gao

School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dongchuan Road,
Shanghai 200240, China
e-mail: fengg@sjtu.edu.cn

1Corresponding author.

Manuscript received April 20, 2015; final manuscript received November 24, 2015; published online January 6, 2016. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 8(2), 021023 (Jan 06, 2016) (12 pages) Paper No: JMR-15-1095; doi: 10.1115/1.4032201 History: Received April 20, 2015; Revised November 24, 2015

A family of novel mechanisms with three limbs called sea lion ball mechanisms (SLBMs) is investigated that looks like a sea lion playing with a ball. The SLBM-type mechanism is composed of an upper part and a lower part connected together by three limbs in parallel, and the translational and rotational motions are fully/partially decoupled. The end-effector position is determined by inputs of the lower part, while the posture is mainly determined by inputs of the upper part. First, two compositional principles are abstracted and the corresponding mathematical models are built for the SLBM-type mechanisms that the commutative feature of the SLBMs is found. Then, two type synthesis procedures containing five steps are proposed correspondingly. Following the procedure, a family of novel four, five, and six degrees-of-freedom (DOF) SLBM-type mechanisms is synthesized systematically. The motion patterns of the limbs are enumerated according to the given desired ones of the mechanisms and the limbs are synthesized correspondingly. Finally, several novel SLBM-type mechanisms are achieved by assembling the obtained limbs and selecting the actuated joints.

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Figures

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Fig. 1

A novel 6DOF mechanism and its combination principle: (a) 6DOF manipulating platform, (b) CAD model, and (c) combination principle

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Fig. 2

Characteristics of the SLBM-type mechanism

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Fig. 3

Type synthesis procedures for SLBM-type mechanisms: (a) mode 1 and (b) mode 2

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Fig. 4

Single-loop KCs for synthesis of the lower parts of limbs for four, five, and six DOF limbs: (a) 3T3R 6DOF limb, (b) 3T2R and 2T3R 5DOF limbs, and (c) 2T2R, 1T3R, and 3T1R 4DOF limbs

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Fig. 5

Typical kinematic limbs for a limb with 6DOF (3T3R): (a) PPP(RRR)O, (b) PPP(RPRR)O, (c) PPR(RRR)O, (d) PRP(RRR)O, (e) PPPa(RRR)O, (f) PU*(RRR)O, (g) UP(RRR)O, (h) UP(RPRR)O, (i) UP(RPR)O, (j) CR(RRR)O, and (k) CP(RRR)O

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Fig. 6

Typical kinematic limbs for a limb with 5DOFs ((a)–(d) 3T2R; (e) and (f) 2T3R): (a) UP(RR)O, (b) PPP(RR)O, (c) PU*(RR)O, (d) CP(RR)O, (e) PP(RRR)O, (f) U*(RRR)O, (g) PPa(RRR)O, and (h) PaPa(RRR)O

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Fig. 7

Some typical configurations for a limb with 4DOF ((a) and (b) 2T2R; (c) and (d) 3T1R; and (e) and (f) 1T3R): (a) PP(RR)O, (b) U*(RR)O, (c) PPP(R), (d) CP(R), (e) P(RRR)O, and (f) Pa(RRR)O

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Fig. 8

Some typical mechanisms with 6DOFs ((a)–(j) with identical limbs; (k) with nonidentical limbs): (a) 3-PPP(RRR)O, (b) 3-PPP(RPRR)O, (c) 3-UP(RRR)O, (d) 3-CP(RRR)O, (e) 3-PPR(RRR)O, (f) 3-UR(RRR)O, (g) 3-CR(RRR)O, (h) 3-PPPa(RRR)O, (i) 3-PRP(RRR)O, (j) 3-PU*(RRR)O, and (k) 2-UP(RRR)O and PPP(RRR)O

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Fig. 9

Typical mechanisms with 5DOFs ((a) and (b) 3T2R; (c) and (d) 2T3R): (a) UP(RR)O and 2-UP(RRR)O, (b) 3-UP(RRR)O, (c) PP(RRR)O and 2-PPP(RRR)O, and (d) 3-PP(RRR)O

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Fig. 10

Some typical mechanisms with 4DOFs ((a) and (b) 3T1R; (c) 2T2R; and (d) 1T3R): (a) PPP(R)O and 2-PPP(RRR)O, (b) 2-PPP(RR)O and 1-UP(RRR)O, (c) PP(RR)O and 2-UP(RRR)O, and (d) P(RRR)O and 2-UP(RRR)O

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