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A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms

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Huang, Tian, Dong, Chenglin, Liu, Haitao, Sun, Tao and Chetwynd, D. G. (2019) A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms. Robotica, 37 . pp. 1161-1173. doi:10.1017/S0263574718000395 ISSN 1469-8668.

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Official URL: http://dx.doi.org/10.1017/S0263574718000395

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Abstract

This paper presents a simple and highly visual approach for the type synthesis of a family of overconstrained parallel mechanisms that have one translational and two rotational movement capabilities. It considers, especially, mechanisms offering the accuracy and dynamic response needed for machining applications. This family features a spatial limb plus a member of a class of planar symmetrical linkages, the latter connected by a revolute joint either to the machine frame at its base link or to the platform at its output link. Criteria for selecting suitable structures from among numerous candidates are proposed by considering the realistic practical requirements for reconfigurability, movement capability, rational component design and so on. It concludes that a few can simultaneously fulfil the proposed criteria, even though a variety of structures have been presented in the literature. Exploitation of the proposed structures and evaluation criteria then leads to a novel five degrees of freedom hybrid module named TriMule. A significant potential advantage of the TriMule over the Tricept arises because all the joints connecting the base link and the machine frame can be integrated into one single, compact part, leading to a lightweight, cost effective and flexible design particularly suitable for configuring various robotized manufacturing cells.

Item Type: Journal Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science, Engineering and Medicine > Engineering > Engineering
Library of Congress Subject Headings (LCSH): Robots -- Industrial applications -- Mathematical models, Machining, Robotics
Journal or Publication Title: Robotica
Publisher: Cambridge University Press
ISSN: 1469-8668
Official Date: July 2019
Dates:
DateEvent
July 2019Published
4 June 2018Available
28 April 2018Accepted
Volume: 37
Page Range: pp. 1161-1173
DOI: 10.1017/S0263574718000395
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Date of first compliant deposit: 14 June 2018
Date of first compliant Open Access: 4 December 2018
RIOXX Funder/Project Grant:
Project/Grant IDRIOXX Funder NameFunder ID
2014CB046603[MSTPRC] Ministry of Science and Technology of the People's Republic of Chinahttp://dx.doi.org/10.13039/501100002855
2017YFB1301800[MSTPRC] Ministry of Science and Technology of the People's Republic of Chinahttp://dx.doi.org/10.13039/501100002855
51420105007[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
734272H2020 European Research Councilhttp://dx.doi.org/10.13039/100010663

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