Authors: Xiangdun Meng; Feng Gao
Addresses: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, No. 800, Road Dongchuan, Minhang, Shanghai 200240, China ' State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, No. 800, Road Dongchuan, Minhang, Shanghai 200240, China
Abstract: With outstanding advantages, parallel mechanisms attracted decent amount of interest and obtained remarkable development. Type synthesis is one of the most challenging topics in parallel robots field. On the basis of investigation and analysis on current several distinctive approaches, this paper proposes basic problems which should be solved by a complete and valid type synthesis approach and the research frame of type synthesis of parallel robotics. Also, this paper proposes the general function (GF) sets as performance criteria to evaluate characteristics of end-effectors and to classify mechanisms. According to completeness of rotation characteristics, the GF sets are categorised into three classes: seven kinds of the first class of GF sets, 31 kinds of the second class of GF sets, five kinds of the third class of GF sets. The basic frame and three classes of GF sets would have important scientific significance to systematically setup type synthesis approaches.
Keywords: type synthesis; parallel mechanisms; basic frame; performance criteria; GF sets; general function; parallel robots; robot end effectors; robotics.
International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.1, pp.35 - 48
Received: 07 Apr 2012
Accepted: 07 Apr 2012
Published online: 31 Dec 2012 *