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Technical Brief

Solution Region Synthesis Methodology of Spatial 5-SS Linkages for Six Given Positions

[+] Author and Article Information
Jianyou Han

School of Mechanical Engineering University of Science and TechnologyBeijing 30 Xueyuan Road, Haidian District, Beijing 100083 P. R.China
jyhan@ustb.edu.cn

Guangzhen Cui

School of Mechanical Engineering University of Science and TechnologyBeijing 30 Xueyuan Road, Haidian District, Beijing 100083 P. R.China
c_u_i_guangzhen@163.com

1Corresponding author.

ASME doi:10.1115/1.4036219 History: Received August 08, 2016; Revised February 24, 2017

Abstract

This paper presents a solution region synthesis methodology to perform the dimensional synthesis of spatial 5-SS (spherical-spherical) linkages for six specified positions of the end-effector. Dimensional synthesis equations for an SS link are formulated. After solving the synthesis equations, the curves of moving and fixed joints can be obtained, and they are called moving and fixed solution curves, respectively. Each point on the curves represents an SS link. Considering the limited ranges of joints at the first position, we can obtain the feasible solution curves. The link length curves can be obtained based on the feasible solution curves. We determine three SS links by selecting three points meeting the requirements on link length curves. Then the solution region is built by sorting and adding feasible solution curves and projecting the feasible solution curves on the line. In this paper, the 5-SS linkage is formed by five SS links, which connect the base and end-effector. We use linear actuator to drive the 5-SS linkage, and there are infinite ways to add the linear actuator in theory. To simplify the way of adding linear actuator, we provide 20 feasible ways. The linkage is analyzed whether it is defective, when different linear actuators are added. The feasible solution region can be obtained by eliminating defective linkages and linkages that fail to meet the other requirements from the solution region. The validity of the formulas and applicability of the proposed approach is illustrated by example.

Copyright (c) 2017 by ASME
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