Abstract
This paper presents a mobility and applied load-oriented method (MALOM) to deal with the comprehensive design challenges of mechanisms involving mobility, kinematics/mechanics, and topological parameters. First, an orientation and position feature screw system (OPFSS) is defined to characterize a mechanism's mobility and is used to generate the topological spaces of twist, wrench, and power. Then, the power topological space establishes mathematical relationships between mobility, applied load, and optimization indexes. Third, two unit power indexes are derived. Through these three steps, the MALOM is established. As an example, based on the MALOM, a decoupled 5-DoF hybrid mechanism with a high load-to-weight ratio has been designed and verified. The Simulation and experiment of the hybrid mechanism prove that the MALOM is correct and valid.
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