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Computational Kinematics pp 274–281Cite as

An Approach for Type Synthesis of Overconstrained 1T2R Parallel Mechanisms

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

This paper presents a simple and illustrative approach for type synthesis of a family of overconstrained parallel mechanisms having one translational and two rotational movement capability. This family features a spatial limb plus a member of a class of planar symmetrical linkages, connected by a revolute joint either with the machine frame at the base link or with the platform at the output link. Criteria for selecting suitable structures among numerous candidates are proposed by considering the realistic and practical requirements of reconfigurability, movement capability, component design rationality, etc. Exploiting the structures obtained and examined by the criteria proposed leads to a novel 5-DOF hybrid module named TriMule, which offers a lightweight, cost effective, and flexible design particularly suitable for configuring various robotized manufacturing cells.

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Acknowledgments

The research is partially supported by National Key Basic Research Program (2014CB046603) and National Natural Science Foundation of China (51420105007).

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Authors and Affiliations

  1. Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin, 300072, China

    C. Dong, H. Liu, Q. Liu, T. Sun & T. Huang

  2. School of Engineering, The University of Warwick, Coventry, CV4 7AL, UK

    T. Huang & D. G. Chetwynd

Authors
  1. C. Dong
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  2. H. Liu
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  3. Q. Liu
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  4. T. Sun
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  5. T. Huang
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  6. D. G. Chetwynd
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Corresponding author

Correspondence to H. Liu .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Cite this paper

Dong, C., Liu, H., Liu, Q., Sun, T., Huang, T., Chetwynd, D.G. (2018). An Approach for Type Synthesis of Overconstrained 1T2R Parallel Mechanisms. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_31

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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