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Mobility analysis and structural synthesis of a class of spatial mechanisms with coupling chains

Published online by Cambridge University Press:  23 April 2015

Wen-ao Cao ,
Huafeng Ding ,
Ziming Chen  and
Shipei Zhao
Wen-ao Cao
Affiliation:
Faculty of Mechanical & Electronic Information, China University of Geosciences, 430074, Wuhan, P. R. China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
Huafeng Ding*
Affiliation:
Faculty of Mechanical & Electronic Information, China University of Geosciences, 430074, Wuhan, P. R. China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, 200240, Shanghai, P. R. China
Ziming Chen
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
Shipei Zhao
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, 066004, Qinhuangdao, P. R. China
*
*Corresponding author. E-mail: dhf@ysu.edu.cn
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Summary

This paper presents a systematic method for dealing with mobility analysis and structural synthesis of a class of important spatial mechanisms with coupling chains, which involve more complex coupling relations than spatial parallel mechanisms. First, an approach to the establishment of the motion screw equation of the class of mechanisms is derived. Then, a general methodology for mobility analysis along with detection of rigid substructures is proposed based on the motion screw equation. Third, the principle of structural synthesis of the class of mechanisms is established on the basis of the method of mobility analysis. Finally, some novel spatial mechanisms with coupling chains are synthesized, illustrating the effectiveness of the method. The study of the paper will benefit structural analysis and synthesis of more complex spatial mechanisms with coupling chains.

Keywords

Spatial mechanismCoupling chainMobility analysisRigid substructureStructural synthesis
Type
Articles
Information
Robotica , Volume 34 , Issue 11 , November 2016 , pp. 2467 - 2485
Copyright
Copyright © Cambridge University Press 2015 

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