Design Innovation Paper

An Efficient Parking Solution: A Cam-Linkage Double-Parallelogram Mechanism Based 1-Degrees of Freedom Stack Parking System

[+] Author and Article Information
Chengyuan Zhang

Department of Automotive Engineering,
Chongqing University,
Chongqing 400044, China
e-mail: enzozcy@cqu.edu.cn

Xiaomin Zhang

Department of Automotive Engineering,
Chongqing University,
Chongqing 400044, China
e-mail: ZhangXiaomin543@live.cn

Hongyun Ye

Department of Automotive Engineering,
Chongqing University,
Chongqing 400044, China
e-mail: Hy_Ye@cqu.edu.cn

Ming Wei

Department of Computer Science,
Chongqing University,
Chongqing 400044, China
e-mail: weiming16@cqu.edu.cn

Xianxiong Ning

Department of Mechanical Engineering,
Chongqing University,
Chongqing 400044, China
e-mail: ningxianxiong@163.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received November 30, 2018; final manuscript received April 22, 2019; published online May 17, 2019. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 11(4), 045001 (May 17, 2019) (8 pages) Paper No: JMR-18-1436; doi: 10.1115/1.4043688 History: Received November 30, 2018; Accepted April 25, 2019

To solve the difficult parking problem, developing a mechanical parking device is a practical approach. Aiming at longitudinal parking, a novel compact double-stack parking system is put forward based on a 1-DOF (degree of freedom) cam-linkage double-parallelogram mechanism. Due to the unique structure, the whole device can be driven by a single motor to realize three motion periods, including lifting, translation, and fillet transition. Meanwhile, all parts of this compact mechanism can be well contained in the filleted rectangular trajectory. This rectangular trajectory is essential that we no longer need to take out the ground vehicles so as to realize stack parking. Furthermore, to overcome the singularity collinear problem of the parallelogram which may lead to the polymorphic state, the double-parallelogram mechanism is proposed to maintain the orientation of the parking platform. The digital simulation and kinetostatic analysis results demonstrate the feasibility that this novel cam-linkage double-parallelogram mechanism can improve the space utilization of the residential area, alleviate the parking problem, and can be quickly put into application on campuses or streets in a short period.

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Fig. 1

Parking systems: (a) the two-level parking system, (b) the rotary parking system, and (c) the multi circulation parking system

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Fig. 2

(a) The 1:10 scaled prototype designed for longitudinal parking and (b) the components of our proposed 1-DOF double-stack parking device

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Fig. 3

Cam-linkage mechanisms. (a) The primary cam-linkage mechanism. To maximize the trajectory range, meanwhile minimize the cam size, we only use part of the rectangle (drawn in dotted line) which mainly contains a lifting period and a translation period. (b) The improved cam-linkage mechanism. (c) Our proposed novel cam-linkage mechanism.

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Fig. 4

Geometrical model of the linkage system. The global coordinate frame OXY is attached at the fixed base, where the motor that drives the active joint is also placed.

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Fig. 5

Calculation of the cam profile slot, where the thin lines denote the linkages, the circles represent the roller, and the crosses show the positions of the parking platform (i.e., N2)

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Fig. 6

The polymorphous situation of the parallelogram mechanism, where the shadowed bar is fixed. In our case, the parallelogram is supposed to overcome the singularity problem and stay in parallelogram as (b1) state 1. However, due to the self-weight driven torque, it is very likely to become an anti-parallelogram, as shown in (b2) state 2.

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Fig. 7

Double-parallelogram mechanism. The N1N5N4N3N2¯ is the linkage system and the rigid body N2′N2N2″¯ is the parking platform.

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Fig. 8

Double parallelograms at different positions. For better illustration, we render the transparent materials.

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Fig. 9

(a) Force analysis of the parking system and (b) illustration of compatibility equations

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Fig. 10

The digital simulation results of forces and driving torque

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Fig. 11

The simulation results with single group of parallelogram mechanisms: (a, b): Group I and (c, d): Group II

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Fig. 12

The force analysis results of double-parallelogram mechanisms with different parameters (forces greater than 1 × 106 N are not shown). The parameters selected in this paper are represented by the solid points.

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Fig. 13

Mechanical advantage during the lifting period

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Fig. 14

A simplified model without redundant parts is simulated by ADAMS. The smooth and precise trajectory is verified based on this model, and the result proves the accuracy of the cam curve.



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