Abstract
A systematic method for topological structure synthesis of PM based on POC equations is introduced. The complete synthesis process includes the following several steps: (a) synthesize all candidate SOC and HSOC branches based on the POC equation for serial mechanisms, (b) determine branch combination schemes and geometrical conditions for branches to be assembled on two platforms based on POC equation for PMs, (c) check the obtained PMs for design requirements and obtain all usable PMs. Topological structure synthesis of 3T1R PM which can be used in SCARA robot is discussed in detail to illustrate to procedure of this method. 18 types of 3T1R PMs containing no prismatic pair are obtained.
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The authors acknowledge the financial support of the national science foundation of China (NSFC) with grant numbers of 51375062, 51365036, 51475050 and 51405039.
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Yang, T., Liu, A., Shen, H., Hang, L. (2016). Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_13
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DOI: https://doi.org/10.1007/978-3-319-43506-0_13
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