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Topological relation expression and verification of symmetrical parallel mechanism based on the evolution of chemical molecule

Published online by Cambridge University Press:  20 September 2023

Litao He ,
Hairong Fang Open the ORCID record for Hairong Fang [Opens in a new window]  and
Dan Zhang
Litao He
Affiliation:
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, PR China Department of Mechanical Engineering, Lassonde School of Engineering, York University, Toronto, Canada
Hairong Fang*
Affiliation:
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, PR China
Dan Zhang
Affiliation:
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China Department of Mechanical Engineering, Lassonde School of Engineering, York University, Toronto, Canada
*
Corresponding author: Hairong Fang; Email: hrfang@bjtu.edu.cn
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Abstract

The research of parallel mechanism (PM) configuration involves many problems. From topology to configuration, dimensional constraint, etc., how to establish the relationship between topology and configuration with effective methods is a long-term challenge for the configuration design. In this paper, the chemical molecular spatial structure (CMSS) is linked with the configuration of symmetrical parallel mechanism (SPM). Starting from the methane molecule (CH4), a spatial structural topological relation is obtained. Based on graph theory and the spatial structural topological relation, a new expression method with topological graph and its kinematic pair adjacency matrix for spatial SPM is proposed. Then, the expression and analysis for the characteristics of spatial SPM are obtained. Finally, by taking the 3-RPS PM and the 3-RRC PM as examples, the effectiveness and corresponding consistency of the proposed expression method are successfully verified. The proposed new expression method paves the way for the subsequent digital and automated design and analysis of the SPM configuration.

Keywords

molecular structuresymmetrical parallel mechanismtopological graphadjacency matrixgraph theory
Type
Research Article
Information
Robotica , Volume 41 , Issue 12 , December 2023 , pp. 3584 - 3607
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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