Abstract
The type synthesis is a fundamental phase in the design of parallel mechanisms. The type synthesis process consists of a systematic approach to generate all possible mechanical structures that are capable of performing a determined movement. The type synthesis presents two main steps: (1) generation of limbs and (2) assembly of parallel manipulators. There are basically three main approaches for type synthesis of parallel mechanisms: screw theory, lie group of rigid body displacements and evolutionary morphology. This paper presents a new method that combines screw theory and characteristics of genetic algorithms. Using the proposed method, it was generated new solutions of 3-DOF limbs (2R1T and 1R2T) for parallel manipulators.
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Notes
The helical joint presents coupled movements. When such joint moves, translation and rotation occur simultaneously. This means that the rotation and translation depend on each other.
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Borges Dos Santos, J.V., Simoni, R., Carboni, A.P. et al. A new method for type synthesis of parallel mechanisms using screw theory and features of genetic algorithms. J Braz. Soc. Mech. Sci. Eng. 42, 615 (2020). https://doi.org/10.1007/s40430-020-02675-x
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DOI: https://doi.org/10.1007/s40430-020-02675-x