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| Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism |
| CAO Yi1,2a,2b,3,QIN Youlei1,3,CHEN Hai1,3,LIU Kai1,3,ZHOU Hui1,2a,2b,3
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| (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) |
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Abstract Abstract： In order to obtain fullyisotropic 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 fullyisotropic 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 fullyisotropic of the mechanism and demonstrated the effectiveness of the novel method of structural synthesis for parallel mechanisms.
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Received: 05 June 2015
Published: 28 May 2016
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