Abstract
Over the past few decades, there has been extensive research conducted in both academia and industry on conventional parallel manipulators. However, the exploration of generalized parallel mechanisms with coupling sub-chains has received limited attention. This paper introduces a novel approach to synthesizing parallel mechanisms with additional connecting sub-chains, focusing on number synthesis and graph representation. To develop manipulators with additional constraints, this study constructs contracted graphs with different loops. The contracted graphs are represented by arrays, which denote the connectivity relationships among associated linkages, leading to the discovery of new contracted graphs. Besides, the connective array is introduced to identify isomorphic and invalid contracted graphs, while also analyzing specific contracted graph variations. Furthermore, this paper deduces the evolutionary process of contracted graphs, resulting in the derivation of all available topological arrangements. This innovative method for graph synthesis of parallel mechanisms with coupling sub-chains has the potential to expand the range of available options within the family of generalized parallel mechanisms.
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This work is founded by National Nature Science Foundation of China (grants 52150710538).
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Tian, C., Li, L., Xia, Z., Zhang, D. (2023). Graph Synthesis of Generalized Parallel Mechanisms with Coupling Sub-chains. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_7
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DOI: https://doi.org/10.1007/978-981-99-6504-5_7
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