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Type Synthesis of Planar Parallel Mechanism Incorporating Actuated Limb with Zero/One Constraint with Set Conception

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Advances in Reconfigurable Mechanisms and Robots I
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This paper presents a method of type synthesis for planar parallel mechanisms (PPMs) incorporating actuated limbs with zero/one constraint with set conception. Firstly, according to their contributions to the moving platform, the limbs of PPMs can be classified as four categories: actuated limb with zero constraint, fully-constrained limb with zero actuator, fully-constrained limb with one actuator and under-constrained limb with one actuator. Followed by the descriptions of actuated space and constrained space for the end of the limbs by virtue of the screw theory, the type syntheses of the four type limbs are carried out. Then different sets and functions are defined respectively, whose elements and variables are the topologies of four type limbs. The different function values and the composition principle of PPMs lead to existence of PPMs topologies by four solutions. Finally, taking three typical PPMs with linear motors for examples, their virtual prototypes are obtained with commercial 3-dimensional CAD software.

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The authors of this paper wish to acknowledge the financial support received from the National Natural Science Foundation of China (Grant No. 51075295) and the Tianjin Research Program of Application Foundation and Advanced Technology (Grant No. 11JCZDJC22700).

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Correspondence to Yimin Song .

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© 2012 Springer-Verlag London

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Dong, G., Song, Y., Sun, T. (2012). Type Synthesis of Planar Parallel Mechanism Incorporating Actuated Limb with Zero/One Constraint with Set Conception. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London.

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-4140-2

  • Online ISBN: 978-1-4471-4141-9

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