Abstract
Structure synthesis of serial mechanisms is introduced in this chapter. The content deals with: (1) A easy-to-use method for structure synthesis of serial mechanisms is proposed based on POC equation for serial mechanisms and sub-SOCs of geometric constraint types of axes in Chap. 4. And 28 structure types of serial mechanisms containing only R and P pairs with DOF= dim{POC set} and 15 structure types of serial mechanisms containing only R and P pairs with DOF= dim{POC set}+1 are obtained. (2) An simple method for structure synthesis of general over-constrained single-loop mechanisms (SLC) is proposed. And 15 types of general over-constrained SLCs with DOF=1 and only R and P pairs are obtained. (3) The method for structure synthesis of serial mechanisms is independent of motion position of mechanisms and it is not necessary to establish the fixed coordinate system. In brief, contents in this chapter will be used for structure synthesis of simple and complex branches of parallel mechanisms (refer to Chaps. 9-10).
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