1. Type Synthesis of 4-DOF Non-Overconstrained Parallel Mechanisms with Symmetrical Structures
- Author
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Wei Ye, Qinchuan Li, and Xinxue Chai
- Subjects
parallel mechanism ,non-overconstrained ,screw theory ,type synthesis ,symmetrical structure ,Mechanical engineering and machinery ,TJ1-1570 - Abstract
This paper presents the type synthesis of 4-DOF non-overconstrained parallel mechanisms (PMs) with symmetrical structures. A special topological structure that includes two intermediate platforms and one moving platform is employed. Constraint conditions for 3R1T, 2R2T, and 1R3T (R: rotation; T: translation) symmetrical PMs are analyzed. Several classes of hybrid limbs that exert a constraint force or a constraint couple are synthesized using screw theory. These limbs are then used to construct 4-DOF PMs, resulting in many novel non-overconstrained 3R1T, 2R2T, and 1R3T PMs with symmetrical structures. The non-overconstrained feature is verified based on the Grübler/Kutzbach criterion.
- Published
- 2022
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