Research On The Type Synthesis Methodology Of Parallel Manipulators

One of the most important steps in designing a robotic mechanical system is to solve the problem of type synthesis of mechanisms. The research on the type synthesis methodology of parallel manipulators is of theoretical and practical significance, which has received much concern from many researchers. However, among those type synthesis methodologies, simple and effective method which is based on the description of the kinematic characteristics of an end-effector of a parallel manipulator and the design requirement has not been dealt with systematically, which is still lack of consideration. The type synthesis methodology of parallel manipulators based on G_F set is studied. Type synthesis of parallel manipulators with 2D (Dimension) to 6D is performed by utilizing this method. The main contributions are as follows:1. The basic concept and definition of G_F set is studied. According to the kinematic characteristics of the end-effectors of parallel manipulators, the classification of G_F set is obtained. The conditions for the rotational motion of the end-effector are studied and the spatial rotational motion planet theorem is given. Two operations of G_F sets, i.e. intersection and union are defined and the algorithms for intersection and union of 1D, 2D and 3D translations and rotations are established, which provides the experimental and theories foundation for the utilization of the type synthesis based on G_F set. The type synthesis for robot mechanisms based on G_F set is discussed and configuration features of various types of parallel manipulators are obtained. A general procedure is described for the type synthesis of parallel manipulators based on G_F set.2. The definitions of specific and unspecific kinematic characteristics are presented. The design approach for chain structures with specific kinematic characteristics are analyzed and kinematic chains with 2D to 6D kinematic characteristics are then enumerated, which are used for constructing parallel manipulators. 3. The type synthesis of three kinds of 2D and four kinds of 3D parallel manipulators are performed using type synthesis method based on G_F set. Many novel mechanisms are synthesized and the structural conditions are revealed systematically for 2D and 3D parallel manipulators.4. The type synthesis of three kinds of 4D parallel manipulators are performed by utilizing type synthesis method based on G_F set. Several novel architectures are covered and the structural conditions are revealed systematically for 4D parallel manipulators.5. The type synthesis of two kinds of 5D parallel manipulators and 6D parallel manipulators are performed by employing type synthesis method based on G_F set. Many 5D and 6D parallel manipulators are enumerated and the structural conditions are revealed systematically for 5D and 6D parallel manipulators.6. The analysis method for the kinematic characteristics of the end-effectors of parallel manipulators based on G_F set is studied. As the application of the method, analysis procedures of several parallel manipulators are described in detail and the correct results are obtained, which verifies the efficiency and correctness of the method.