Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory

Jingjun Yu; Shusheng Bi; Guanghua Zong; Yuefa Fang

Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory

Jingjun Yu^*
, Shusheng Bi
, Guanghua Zong
, Yuefa Fang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Research output: Contribution to conference › Paper › peer-review

5 Scopus citations

Abstract

In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions undergoing the different types of constraints for the TPMs. In terms of these established geometric conditions, limb structures that can be used for constructing TPMs are enumerated, and a number of novel TPMs including both symmetrical structure and asymmetrical structure are synthesized accordingly. On the other hand, some composite kinematic pairs are proposed. The involvement of these composite kinematic pairs into the limbs of a TPM greatly enlarges the family of the TPMs.

Original language	English
Pages	733-742
Number of pages	10
State	Published - 2004
Event	2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, United States Duration: 28 Sep 2004 → 2 Oct 2004

Conference

Conference	2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	United States
City	Salt Lake City, UT
Period	28/09/04 → 2/10/04

Keywords

Composite kinematic pairs
Degree of freedom
Geometric synthesis
Screw theory
Translational parallel manipulator

Cite this

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title = "Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory",

abstract = "In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions undergoing the different types of constraints for the TPMs. In terms of these established geometric conditions, limb structures that can be used for constructing TPMs are enumerated, and a number of novel TPMs including both symmetrical structure and asymmetrical structure are synthesized accordingly. On the other hand, some composite kinematic pairs are proposed. The involvement of these composite kinematic pairs into the limbs of a TPM greatly enlarges the family of the TPMs.",

keywords = "Composite kinematic pairs, Degree of freedom, Geometric synthesis, Screw theory, Translational parallel manipulator",

author = "Jingjun Yu and Shusheng Bi and Guanghua Zong and Yuefa Fang",

year = "2004",

language = "英语",

pages = "733--742",

note = "2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference ; Conference date: 28-09-2004 Through 02-10-2004",

}

Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory. / Yu, Jingjun ; Bi, Shusheng; Zong, Guanghua et al.
2004. 733-742 Paper presented at 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, United States.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory

AU - Yu, Jingjun

AU - Bi, Shusheng

AU - Zong, Guanghua

AU - Fang, Yuefa

PY - 2004

Y1 - 2004

N2 - In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions undergoing the different types of constraints for the TPMs. In terms of these established geometric conditions, limb structures that can be used for constructing TPMs are enumerated, and a number of novel TPMs including both symmetrical structure and asymmetrical structure are synthesized accordingly. On the other hand, some composite kinematic pairs are proposed. The involvement of these composite kinematic pairs into the limbs of a TPM greatly enlarges the family of the TPMs.

AB - In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions undergoing the different types of constraints for the TPMs. In terms of these established geometric conditions, limb structures that can be used for constructing TPMs are enumerated, and a number of novel TPMs including both symmetrical structure and asymmetrical structure are synthesized accordingly. On the other hand, some composite kinematic pairs are proposed. The involvement of these composite kinematic pairs into the limbs of a TPM greatly enlarges the family of the TPMs.

KW - Composite kinematic pairs

KW - Degree of freedom

KW - Geometric synthesis

KW - Screw theory

KW - Translational parallel manipulator

UR - https://www.scopus.com/pages/publications/14044256648

M3 - 论文

AN - SCOPUS:14044256648

SP - 733

EP - 742

T2 - 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Y2 - 28 September 2004 through 2 October 2004

ER -

Geometric synthesis and enumerartion of the family of 3-DOF translational parallel manipulators via the screw theory

Abstract

Conference

Keywords

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