Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism

Journal of Shanghai Jiaotong University››2016,Vol. 50››Issue (05): 702-709.

Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism

CAO Yi1,2a,2b,3,QIN Youlei1,3,CHEN Hai1,3,LIU Kai1,3,ZHOU Hui1,2a,2b,3

(1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, Jiangsu, China； 2a. State Key Laboratory of Mechanical System and Vibration, 2b. Key Laboratory of System Control and Information Processing, Shanghai Jiaotong University, Shanghai 200240, China； 3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, Jiangsu, China)

Received:2015-06-05Online:2016-05-28Published:2016-05-28

Abstract

Abstract:Abstract： In order to obtain fullyisotropic and decoupled structures of the parallel robot, a very simple yet very effective structural design was proposed based on GF set. First, the basic concept of GF set, algorithms and the type synthesis principle, requirements for rotation based on GF set were introduced. Next, the selection criterion of the input pair and type synthesis principle of decoupled branches were given, which ensured that the input of various branches were isotropic and the decoupled. According to the type synthesis theory, the specific process for structural synthesis of 3T1R four degrees of freedom fullyisotropic and decoupled parallel mechanism were accomplished. Simultaneously, a lot of new mechanisms were obtained. Finally, the screw theory was applied to analyze the kinematic characteristic of the parallel mechanism synthesized above. The expression of the Jacobian matrix was deduced which validated the fullyisotropic of the mechanism and demonstrated the effectiveness of the novel method of structural synthesis for parallel mechanisms.

Key words:Key words： parallel mechanism,structural synthesis,GF set,fullyisotropic,decoupled

CLC Number:

TH 112

CAO Yi1,2a,2b,3,QIN Youlei1,3,CHEN Hai1,3,LIU Kai1,3,ZHOU Hui1,2a,2b,3. Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism[J]. Journal of Shanghai Jiaotong University, 2016, 50(05): 702-709.

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