Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms

被引：1

作者：

Lu, Yi ^{[1
]}

Lu, Yang ^{[2
]}

Zhang, Lijie ^{[1
]}

Ye, Nijia ^{[1
]}

Hu, Bo ^{[1
]}

Liu, Yang ^{[1
]}

机构：

[1] Yanshan Univ, Coll Mech Engn, Qinhuangdao 066004, Hebei, Peoples R China

[2] Harbin Elect Corp Heavy Equipment Co Ltd, Qinhuangdao, Peoples R China

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2018年 / 2018卷

基金：

中国国家自然科学基金;

关键词：

MANIPULATORS; 4-DOF; 3-DOF;

D O I：

10.1155/2018/6021702

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The type synthesis of the 5-DoF (degree of freedom) parallel mechanisms with different submechanisms is studied by utilizing digital topology graphs (DTGs). The conditions for synthesizing the 5-DoF parallel mechanisms with different submechanisms using DTGs are determined. Many valid DTGs are derived from 17 different 5-DoF associated linkages, and the valid DTGs are transformed into revised DTGs. The subplanar and/or spatial parallel mechanisms in the 5-DoF parallel mechanisms are transformed into some simple equivalent limbs, and their equivalent relations and merits are analyzed. Using the derived valid DTGs and revised DTGs, many 5-DoF parallel mechanisms with different subserial or parallel mechanisms are synthesized, and they are simplified by replacing the complicated subparallel mechanisms with their simple equivalent limbs. Finally, their DoFs are calculated to verify the correctness and effectiveness of the proposed approach.

引用

页数：13

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