Type synthesis for 4-DOF parallel press mechanism using GF set theory

Chinese Journal of Mechanical Engineering - Tập 28 Số 4 - Trang 851-859 - 2015
Jun He1, Feng Gao1, Xiangdun Meng1, Weizhong Guo1
1State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

Tóm tắt

Từ khóa


Tài liệu tham khảo

HUNT K H. Kinematic geometry of mechanisms[M]. Oxford: Clarendon Press, 1978.

STEWART D. A platform with six degrees of freedom[J]. Proceedings of the Institution of Mechanical Engineers, 1965, 180: 371–386.

HE Jun, GAO Feng, BAI Yongjun, et al. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance[J]. Chinese Journal of Mechanical Engineering, 2013, 26(6): 1222–1233.

BAI YongJun, GAO Feng, GUO Weizhong, et al. Kinematic and dynamic analyses of the multi-actuated mechanical press with parallel topology[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2012, 226(10): 2573–2588.

MRUTHYUNJAYA T S. A computerized methodology for structural synthesis of kinematic chains: Part 1-Formulation[J]. Mechanism and Machine Theory, 1984, 19: 487–495.

MRUTHYUNJAYA T S. A computerized methodology for structural synthesis of kinematic chains: Part 2-Application to several fully or partially known cases[J]. Mechanism and Machine Theory, 1984, 19: 497–505.

BOUDREA U, GOSSELIN C M. The synthesis of planar parallel manipulators with a genetic algorithm[J]. Journal of Mechanical Design, 1999, 121: 533–537.

KONG Xianwen, GOSSELIN C M, RICHARD P L. Type synthesis of parallel mechanisms with multiple operation modes[J]. Journal of Mechanical Design,2007, 129: 595–601.

HUANG Zhen, LI Qinchuan, DING Huafeng. Theory of Parallel Mechanisms[M]. Dordrecht: Springer, 2012.

LI Qinchuan, HUANG Zhen, HERVE J M. Type synthesis of 3R2T 5-DOF parallel mechanisms using the lie group of displacements[J]. IEEE Transactions on Robotics and Automation, 2004, 20: 173–180.

ZENG Daxing, HUANG Zhen. Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J]. Science China-Technological Sciences, 2011, 54: 998–1004.

ZHAO Tieshi, DAI Jiansheng, HUANG Zhen. Geometric synthesis of spatial parallel manipulators with fewer than six degrees of freedom[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 2002, 216: 1175–1185.

HERVE J M. The Lie group of rigid body displacements, a fundamental tool for mechanism design[J]. Mechanism and Machine Theory, 1999, 34: 719–730.

LEE C C, HERVE J M. Generators of the product of two Schoenflies motion groups[J]. European Journal of Mechanics a-Solids, 2010, 29: 97–108.

GOGU G. Structural synthesis of parallel robots: Part 1: Methodology[M]. Dordrecht: Springer, 2007.

GOGU G. Structural synthesis of parallel robots: Part 2: Translational topologies with two and three degrees of freedom[M]. Dordrecht: Springer, 2009.

GOGU G. Structural synthesis of parallel robots: Part 3: Topologies with planar motion of the moving platform[M]. Dordrecht: Springer, 2010.

YANG Tingli. Topology structure design of robot mechanisms[M]. Beijing: China Machine Press, 2004. (in Chinese)

YANG Tingli, SUN D J. A general degree of freedom formula for parallel mechanisms and multiloop spatial mechanisms[J]. Journal of Mechanisms and Robotics, 2012, 4: 011001.

MENG Jian, LIU Guangfeng, LI Zexiang. A geometric theory for analysis and synthesis of sub-6 DOF parallel manipulators[J]. IEEE Transactions on Robotics, 2007, 23: 625–649.

GAO Feng, LI Weiming, ZHAO Xianchao, et al. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs[J]. Mechanism and Machine Theory, 2002, 37: 1395–1411.

DAI Jiansheng. An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist[J]. Mechanism and Machine Theory, 2006, 41: 41–52.

YU JingJun, DAI Jiansheng, BI Shusheng, et al. Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration[J]. Science China-Technological Sciences, 2010, 53: 388–404.

ZHANG Dan, GOSSELIN C M. Parallel kinematic machine design with kinetostatic model[J]. Robotica, 2002, 20: 429–438.

ZHANG Dan, WANG L H, LANG S Y. Parallel kinematic machines: Design, analysis and simulation in an integrated virtual environment[J]. Journal of Mechanical Design, 2005, 127: 580–588.

GAO Feng, YANG Jialun, GE Qiaode. GF set theory for type synthesis for parallel robotic mechanisms[M]. Beijing: Science Press, 2011. (in Chinese)

LI Haihong, YANG Zhiyong, HUANG Tian, et al. Dynamics and optimization of a 2-DOF parallel robot with flexible links[C]//7th World Congress on Intelligent Control and Automation, Chongqin, June 25–27, 2008: 1000–1003.

CLAVEL R. Delta- a fast robot with parallel geometry[C]//Proceedings of the kr. Symp. On lndustriol Robot, Switzerland, 1988: 91–100.

HOSSEINI M A, DANIALI H R, TAGHIRAD H D. Dexterous workspace optimization of a Tricept parallel manipulator[J]. Advanced Robotics, 2011, 25(1): 1697–1712.

LIU Haitao, HUANG Tian, MEI Jianping, et al. Kinematic design of a 5-DOF hybrid robot with large workspace/limb–stroke ratio[J]. Journal of Mechanical Design, 2006, 129(5): 530–537.

ZENG Daxing, HOU Yulei, HUANG Zhen, et al. Type synthesis and characteristic analysis of a family of 2-DOF rotational decoupled parallel mechanisms[J]. Chinese Journal of Mechanical Engineering, 2009, 22(6): 833–840.

LI Qinchuan, HERVE J M. Type synthesis of 3-DOF RPR-equivalent parallel mechanisms[J]. IEEE Transactions on Robtics, 2014, 30(6): 1333–1343.

KONG Xianwen. Type synthesis of 3-DOF parallel manipulators with both a planar operation mode and a spatial translational operation mode[J]. Journal of Mechanisms and Robotics Transactions of ASME, 2013, 5(4): 041015.

KHAKPOUR H, BIRGLEN L, TAHAN S A. Synthesis of differentially driven planar cable parallel manipulators[J]. IEEE Transactions on Robotics, 2014, 30(3): 619–630.

ROLLAND L. The manta and the Kanuk: Novel 4-DOF parallel Mechanisms for industrial Handling[C]//Proc. ASME Dynamic Systems and Control Division, Nashville, USA, Vol.67, 1999: 831–844.

ZHAO Tieshi, HUANG Zhen. A novel spatial 4-DOF parallel mechanism and its position analysis[J]. Mechanical Science and Technology, 2000, 19(6): 927–929.

ZLATANOV D, GOSSELIN C M. A new parallel architecture with four degrees of freedom[C]//Proc. of the 2nd Workshop on Computational Kinematics, May 19–22, Seoul, Korea, 2001: 57–66.

KONG Xianwen, GOSSENLIN C M. Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory[J]. IEEE Transactions on Robotics and Automation, 2004, 20(2): 181–190.

LI Qinchuan, HUANG Zhen. Type synthesis of 4-DOF parallel manipulators[C]//IEEE International Conference on Robotics & Automation, WM13, Taiwan, China, May 12–17, 2003: 755–759.

YANG Tingli, JIN Qiong, LIU Xin’an, et al. Structure synthesis of 4-DOF parallel robot mechanisms based on the units of single-opened-chain[C]//Proc. ASME Design Engineering Technical Conf., Computers and Information in Engineering Conf., Pittsburgh, PA, Sept. 2001: 2001–2115.

HUANG Zhen, LI Qinchuan. General methodology for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators[J]. International Journal of Robotics Research, 2002, 21(2): 131–145.

GUO Sheng, FANG Yuefa, QU Haibo. Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory[J]. Robotica, 2012, 30(1): 31–37.

XIE Fugui, LI Tiemin, LIU Xinjun. Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method[J]. Chinese Journal of Mechanical Engineering, 2013, 26(6): 1073–1081.

FAN Caixia, LIU Hongzhao, ZHANG Yanbin. Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms[J]. Mechanism and Machine Theory, 2013, 61(3): 184–190.

YE Wei, FANG Yuefa, GUO Sheng, et al. Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 2014, 228(17): 3209–3217.

LU Yi, WANG Ying, DING Ling. Type synthesis of 4-DOF parallel mechanisms using valid arrays and topological graphs with digits[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 2014, 228(16): 3039–3053.

MENG Xiangdun. Fundamental research on type synthesis of parallel robotic mechanisms based on the GF sets theory[D]. Shanghai: Shanghai Jiao Tong University, 2014. (in Chinese).