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Fundamental Research On Number Synthesis And Type Synthesis Of Parallel Robotic Mechanisms

Posted on:2015-09-11Degree:DoctorType:Dissertation
Country:ChinaCandidate:X D MengFull Text:PDF
GTID:1108330476953986Subject:Mechanical design and theory
Abstract/Summary:PDF Full Text Request
Type synthesis of parallel mechanisms(PMs) has been the hot topic in the international mechanisms and robotics area. The research on type synthesis of PMs is endowed with theoretical and practical significance. The research can reduce the design cycle and the cost of machinery products using PMs. Thus the application of PMs will be more popular. The type synthesis approach based on the GF sets theory is investigated in this thesis. The major contents are listed as follows:1) The basic framework for type synthesis of parallel mechanisms is proposed, which clarifies the contents and objectives of type synthesis of PMs and reveals the essence of the scientific problem. A unified platform for communications and references among different approaches is provided.2) The conception of complete motion characteristics are proposed to describe the law of axis arrangement. The conception and the classification of GF sets are expanded. Totally 7 kinds of the first class of GF sets, 14 kinds of the second class of GF sets and 4 kinds of the third class of GF sets are found. The GF sets are non-algebraic, dimensionless and independent of the choice of coordinate systems. The GF sets can describe the completeness and succession of motion characteristics.3) The conception and classification of end-effectors constraints sets are presented. The general form of number synthesis equations is presented, which predicts the structure parameters of parallel mechanisms in the design process with the requirements of the dimensions of the PMs end-effectors characteristics, overconstraints, redundant freedoms and redundant actuation inputs.4) The intersection algorithms and the decomposition algorithms are proposed. The operation algorithms are the kernel of type synthesis of PMs. The GF sets of limbs can be obtained from the design requirements of specified GF sets.5) The joints substitution method is proposed to design limbs with certain GF sets requirements. The conception of primitive limbs is introduced. People can design limbs following the limbs design procedure.6) The procedure of type synthesis approach based on the GF sets theory is proposed. Type synthesis of PMs is conducted directly from the design requirements. The prototype of type synthesis software based on the GF sets theory is developed.
Keywords/Search Tags:parallel robotic mechanisms, type synthesis, GF sets, number synthesis, operation algorithms
PDF Full Text Request
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