A framework for computer-aided type synthesis of parallel robotic mechanisms

Abstract

In this paper, a framework for computer-aided type synthesis of parallel mechanisms (PMs) is described and the integrated type synthesis software based on the GFsets theory is developed for the first time. The objective of the software was to automate and facilitate type synthesis of PMs. The GFsets theory introduced in our earlier works is an effective type synthesis approach with high execution level. This approach is implemented in a software tool. Algorithms for number synthesis of PMs, decomposition of GFsets, and limbs design method are developed. The computer-aided type synthesis software shows intelligence and self-learning ability of a certain level. Guided by the software, users can complete type synthesis of PMs smoothly with some complex calculations done by the software. The validity of the proposed software is verified through a design example. The design cycle and cost of machinery products using PMs will be reduced with help of the software.