Automatic Synthesis And Innovative Design Of Robots With Series-parallel Network Topological Structure

The conceptual mechanism design is the initial stage of the kinematic chain design.Good selection plan of the mechanism can not only save the time of configuration analysis,but also provide theoretical basis for modeling, performance testing, and structuraloptimization. Analysizing of the mechanism from the perspective of graphical analysiswill go ahead in order to select the best solution according to design requirements. Thesaid topological representation, not only can show the connection between the links ofkinematic chain briefly, but also make it easier set up unified mathematical model ofmechanism. In addition, the structural synthesis of mechanisms using computer based onthe graph theory, can save the designer a large amount of calculations, and can avoid theerror results made by human eye while recognizing and observating. We haveaccomplished the task of kinematic chain synthesis based on the theoretical knowledgeabout contracted graph and topological graph, and finished the process from preliminaryselection to physical design. By this way, a number of series-parallel robots are completed.Firstly, the article introduces four representations of kinematic chain and conversionrules between them, and introduce the concept of kinematic sketch of mechanism thencompared with other three forms. It will establish the foundation for the follow-up work.Secondly, applying the method of inserting binary vertices to contracted graph tokinematic chain synthesis, we have summarized a method of kinematic chain synthesisusing the conversion relationships among contracted graph, topological graph andkinematic sketch of mechanism. The article also develops a software of automaticsynthesis with given contracted graph of kinematic chain display the graphs meeting thedemand.Lastly，We selects all the kinematic chains meeting the design requirements, byapplying the concept of connectivity to the the second selection of mechanisms. Thearticle also assigns the upper carriage and the shovel through the new algorithm ofcalculation of connectivity. The article have completed the model design of large series-parallel mechanical arm using Solidworks. We have got several innovation machines by the process introduced above, and five of them bave been applied for a patent.