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METHODOLOGY FOR Type
Synthe-sis of Kinematic
Structures of6-dof WEAKLY-COUPLED
ParallelMechanisms
Shen Huiping
(Department of Mechanical Engineering,
Jiangsu Polytechnic University, Changzhou 213016)
Yang Tingli
(Association for Science
and Technology, Sinopec Jinling Petrochemical Corporations,
Nangjing 210037)
Ma LÜzhong
(College of Mechanical
Engineering, Jiangsu University, Zhenjiang 212013)
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Abstract :Based
on basic structure theory of parallel robotic mechanisms，a
novel type synthesis methodology for kinematic structures of 6-DOF
weakly-coupled parallel mechanisms is presented, which considerates the
hybrid chain as the “limps” connecting the moving platform with the
base. The 27 promising 6-DOF parallel kinematic structures with lower
coupling degree between independent loops, actuated by 6 rotation joints
(or 6 prismatic joints) amounted at the base, are presented originally ,
the platform of which can possesses general spatial motions, i.e. three
translations and three Rotations . The much more
alternatives to these kinematic structures also could be obtained by
altering the location and the type of the driving joints or by changing
some partial sub-structures relevant to the branch
loops. The classification of these parallel kinematic structures is
identified according to the four structure evaluation criteria suggested
here, i.e.(a)structure topological symmetry; (b)coupling degree value
between independent loops; (c) structure simplicity (with fewer links
and fewer joints); (d ) manufacturability, from which optimal 6-DOF
parallel kinematic structures are recommended in terms of different
design requirements.
Key words:
Parallel mechanisms Parallel robotics Kinematic structures Type
synthesis
Hybrid chains Single-opened chains
CLC No: TH112
TP242
国家自然科学基金(50275070、50375067)和江苏省自然科学基金(BK2001413)资助项目.
Received 20030314, received in revised form 20031205
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