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Computational derivation of valid kinematic limbs of spatial 3-DOF parallel mechanisms without redundant constraint

Published online by Cambridge University Press:  26 July 2011

Yi Lu ,
Yang Lu ,
Ling Ding  and
Nijia Ye
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. China
Yang Lu
Affiliation:
CERI Yingkou Equipment Development and Manufacturing Co., Ltd., Yingkou, Liaoning 115004, P.R. China
Ling Ding
Affiliation:
College of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Nijia Ye
Affiliation:
CERI Yingkou Equipment Development and Manufacturing Co., Ltd., Yingkou, Liaoning 115004, P.R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A computational derivation of valid kinematic limbs for spatial 3-DOF parallel mechanisms (PMs) without redundant constraint is studied based on contracted graphs, topological graphs, and basic joints. First, some contracted graphs without any binary links are constructed, some curves with only binary links are distributed over contracted graphs and many valid topological graphs are derived. Second, a software is developed in Visual Basic for deriving the kinematic limb, and some basic chain structures are constructed by connecting various basic joints in series. Third, all valid kinematic limbs of the 3-DOF PMs without redundant constraint are derived computationally from the basic chain structures and some novel 3-DOF PMs are synthesized using this approach. Finally, the number of the different 3-DOF PMs without redundant constraint are determined based on the topological graphs and valid chain structures of the limb.

Keywords

Chain structureLimbParallel mechanismContracted graphTopological graph
Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012 , pp. 559 - 569
Copyright
Copyright © Cambridge University Press 2011

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