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Type synthesis of 3-DOF reducible translational mechanisms

Published online by Cambridge University Press:  11 March 2005

Feng Gao ,
Yong Zhang  and
Weimin Li
Feng Gao
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200030 (P.R. of China).
Yong Zhang
Affiliation:
School of Mechanical Engineering, YanShan University, Qinhuangdao 066004 (P.R. of China).
Weimin Li
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200030 (P.R. of China).
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Abstract

Motion coupling is one of the typical characters of parallel robots. This makes it complicated to control the parallel robots. Therefore, the design of parallel mechanisms with decoupled motions is an important and challenging issue in the parallel robotic field. However, research in this field, including the definition and type synthesis theory, is weak or lacking. In this paper, the reducible correlation between the input and the output of 3-DOF translational mechanisms with decoupled motions is investigated and the definition of this topic is presented. A new parameter named Gf coordinate is propsed for the synthesis of 3-DOF reducible translational mechanisms. The type synthesis theory for this kind of mechanisms is obtained and some reducible mechanisms are synthesized.

Keywords

Reducible mechanismType synthesisGf coordinate
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 239 - 245
Copyright
© 2005 Cambridge University Press

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