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Synthesis of One DOF Single-Loop Mechanisms with Prismatic Pairs Based on the Atlas Method

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

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Abstract

This paper proposes a new method to synthesize one DOF single-loop mechanisms (SLMs) with prismatic pairs based on the atlas method. Compared with the traditional synthesis method of SLMs, this method is simple, intuitive, and has a definite physical meaning. Besides, it is a method that is used to synthesize the SLMs with prismatic pairs. It fills the gap in the synthesis of SLM considering prismatic pairs. All constraint types (including overconstraints and non-overconstraints) of SLMs are analyzed comprehensively. The cases containing the lazy pairs are also discussed. The idea of this method is to give a prismatic pair first, and then synthesize other kinematic pairs based on the condition that the motion of this prismatic pair is not constrained. In this paper, a variety of new models are proposed using this method, which verifies the feasibility of this method.

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Acknowledgment

This work is supported by Shenzhen Peacock Team Project (20210810140836002), and the Shenzhen Research and Development Program of China (Grant No. JCYJ20200109112818703).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China

    Yang Zhang, Changqing Gao, Hailin Huang & Bing Li

  2. State Key Laboratory of Robotics and System, School of Mechanical Engineering and Automation, Harbin Institute of Technology, Harbin, 150001, China

    Bing Li

Authors
  1. Yang Zhang
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  2. Changqing Gao
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  3. Hailin Huang
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  4. Bing Li
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Corresponding author

Correspondence to Bing Li .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

Nomenclature

Nomenclature

DOF

Degree of freedom

R

Revolute pair or rotational DOF

P

Prismatic pair or translational DOF

SLM

Single-loop mechanism

(iRjR)N

2 revolute pairs with their rotational axes are intersecting

(iRjRkR)N

3 revolute pairs with their rotational axes are intersecting at point N

Rc, Rc,

Revolute pairs with their rotational axes are parallel

d1R,d2R

Two revolute pairs whose axes are not intersecting or parallel in space

d1R,d2R,d3R

Three revolute pairs whose axes are not intersecting or parallel in space

yP

Prismatic pair with its translational direction parallel to the Y-axis

uP

Prismatic pair with its translational direction parallel to the YOZ plane

vP

Prismatic pair with its translational direction parallel to the XOZ plane

wP

Prismatic pair with its translational direction parallel to the XOY plane

\(\underline{{^{{{\text{i1}}}} {\text{R}}}}\), \(\underline{{^{{{\text{j1}}}} {\text{R}}}}\) or \(\underline{{^{{{\text{i2}}}} {\text{R}}}}\), \(\underline{{^{{{\text{j2}}}} {\text{R}}}}\)

Two revolute pairs with their axes parallel to the YOZ plane and intersecting at a point

xR

Revolute pair with its axis parallel to the X-axis

yR

Revolute pair with its axis parallel to the Y-axis

zR

Revolute pair with its axis parallel to the Z-axis

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Zhang, Y., Gao, C., Huang, H., Li, B. (2022). Synthesis of One DOF Single-Loop Mechanisms with Prismatic Pairs Based on the Atlas Method. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_23

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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