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Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform

Abstract

A systematic procedure for the task-oriented type synthesis of parallel mechanisms (PMs) with a common platform is proposed in this study. The method is composed of two stages. In the first stage, constraint wrenches that are compatible to specific task-oriented output motions of the PM is distributed to several limbs. In the second stage, the geometric conditions and admissible joint structures of PM limbs are identified by employing the concept of reciprocal screw. Then desired symmetric or asymmetric PMs are constructed with the proper combinations of those admissible limbs. Lastly, the suggested synthesis method is verified by identifying various forms of lowermobility PMs, such as planar 1T-type PMs, spatial 2T-type PMs and spatial 1T2R-type PMs.

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Correspondence to Whee Kuk Kim.

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Recommended by Associate Editor Hugo Rodrigue

Byung-Ju Yi received the B.S. degree from Hanyang University, Seoul, Korea, in 1984, and the M.S. and Ph.D. degrees from The University of Texas at Austin (UT), TX, USA, in 1986 and 1991, respectively, in mechanical engineering. He served as a Postdoctoral Fellow in the Robotics Group at UT and worked for the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chungnam, Korea. Since 1995, He has been a Professor at the Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea. His research interests include robot mechanics with application to surgical robotic systems and ubiquitous sensor network-based robotics.

Wheekuk Kim received the B.S. degree in mechanical engineering from Korea University, Korea, in 1980, and the M.S. and Ph.D. degrees in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 1985 and 1990, respectively. Since 1991, he has been working as a Professor at the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea. His research interests are in the area of design of parallel robots, synthesis on both the parallel mechanisms and cable-driven parallel mechanisms, and kinematic/ dynamic modeling and analysis of parallel robots.

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Yi, BJ., Kim, W.K. Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform. J Mech Sci Technol 32, 5373–5387 (2018). https://doi.org/10.1007/s12206-018-1036-5

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  • DOI: https://doi.org/10.1007/s12206-018-1036-5

Keywords

  • Lower mobility
  • Parallel mechanism
  • Screw theory
  • Synthesis
  • Task-oriented