Abstract
The novel design of parallel mechanisms plays a key role in the potential application of parallel mechanisms. In this paper, the type synthesis of parallel mechanisms with the first class GF sets and two-dimensional rotations is studied. The rule of two-dimensional rotations is given, which lays the theoretical foundation for the intersection operations of specific GF sets. Next, kinematic limbs with specific characteristics are designed according to the 2-D and 3-D axes movement theorems. Finally, several synthesized parallel mechanisms with the first class GF sets and two-dimensional rotations are illustrated to show the effectiveness of the proposed methodology.
Highlights
The demand for proposing parallel mechanisms with specific characteristics has become increasingly important since parallel mechanisms have potential applications in many sectors, such as machining, positioning and manipulating
Altuzarra et al [1] proposed some parallel mechanisms with two‐dimensional rotations, including 3, 4‐ and 5‐DOF parallel mechanisms which can be employed in the application of machining
We focus on the type synthesis of FG2RPM, indicating that the GF sets GIF Ta 0 0; R R 0
Summary
The demand for proposing parallel mechanisms with specific characteristics has become increasingly important since parallel mechanisms have potential applications in many sectors, such as machining, positioning and manipulating. Altuzarra et al [1] proposed some parallel mechanisms with two‐dimensional rotations, including 3‐, 4‐ and 5‐DOF parallel mechanisms which can be employed in the application of machining. A number of parallel mechanisms with two‐dimensional rotations have been proposed. The type synthesis of multi‐degree of freedom parallel robotic mechanisms has been a hot subject of research over the last few decades. A large number of parallel mechanisms have been synthesized systematically according to the above‐ mentioned theories, from which both industry and academia benefit. The method for the type synthesis of parallel mechanisms with the first class GF sets and two‐dimensional rotations (FG2RPM for short) is studied. The rule of two‐dimensional rotations was proposed to establish the computing algorithms of GF sets for the type synthesis of FG2RPM. Several parallel mechanisms were depicted to show the effectiveness of the synthesizing methodology
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