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Structural synthesis of a class of 2R2T hybrid mechanisms

  • Mechanism and Robotics
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Abstract

Conventional overconstrained parallel manipulators have been widely studied both in industry and academia, however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied, especially for the four degrees of freedom(DOF) hybrid mechanisms. In order to develop a manipulator with additional constraints, a class of important spatial mechanisms with coupling chains(CCs) whose motion type is two rotations and two translations(2R2T) is presented. Based on screw theory, the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed. The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method. Moreover, the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains(SKCs) of the corresponding parallel mechanisms are presented. According to the constraint analysis of the mechanisms, the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains. At last, fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented. The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms.

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Chunxu Tian, Yuefa Fang & Sheng Guo

Authors
  1. Chunxu Tian
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  2. Yuefa Fang
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  3. Sheng Guo
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Corresponding author

Correspondence to Yuefa Fang.

Additional information

Supported by National Natural Science Foundation of China(Grant Nos. 51175029, 51475035)

TIAN Chunxu, born in 1989, is currently a PhD candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. He received his bachelor degree from Hebei University of Engineering, China, in 2013. His research interests include spatial mechanism design and hybrid robots.

FANG Yuefa, born in 1958, is currently a professor and a PhD candidate supervisor at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. His main research interests include theory of mechanisms and parallel robots.

GUO Sheng, born in 1972, is currently a professor and a PhD candidate supervisor at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. His main research interests include spatial mechanism design and parallel robots.

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Tian, C., Fang, Y. & Guo, S. Structural synthesis of a class of 2R2T hybrid mechanisms. Chin. J. Mech. Eng. 29, 703–709 (2016). https://doi.org/10.3901/CJME.2015.1123.138

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  • DOI: https://doi.org/10.3901/CJME.2015.1123.138

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