Type Synthesis Of Multi-hand-foot Parallel Mechanism

Multi-hand-foot parallel robot is a new type of robots, which is constituted by a mobile station or base of less DOF parallel mechanism with multiple hand or foot connected constitute. It plays an important role in the pipeline and disaster relief, little research of such institutions has been done at present. This article put forward a suitable multi-hand-foot parallel mechanism based on a specific task, and this method is more practical compared with the traditional type synthesis.Utilize topology theory to solve the multi-hand-foot parallel mechanism type synthesis issue. Put binary links into every path of the topology embryonic graph, then lots of topology graphs can be obtained, at the same time, remove isomorphic topology graphs by distinguishing the isomorphic, that can be get effective topology graphs. Many different programs of the multi-hand-foot parallel mechanism will emerged by selecting functional components or substituting pair element of topology graphs.The preferred types of institutions include two aspects:one is the optimization of multi-hand-foot mechanism; the other is the optimization of the parallel mechanism itself. Firstly, appropriate driving modes can be chose according to application environment of the multi-hand-foot parallel mechanism; Secondly, chose the large stroke or increase the mechanical advantage of multi-hand-foot mechanism. Finally, select the parallel mechanism with the simple structure, the larger working, and the better performance. And also, the optimal solution can be chose in the many motion schemes.According to the scope application of mechanism, we can choose the proper number of fingers or feet, and the connection of multi-hand-foot mechanism with parallel mechanism. Multi-hand-foot mechanism can be distributed inside of parallel mechanism or outside. According to the different tasks, multi-hand-foot mechanism or parallel mechanism itself can replaced, namely the reconstruction of multi-hand-foot mechanism.A lot of multi-hand-foot parallel mechanisms are innovated, which contain compact structure and good performance. A large of preferred design scheme can be chose in order to adapt to different mission requirements. Through type synthesis, the comprehensive ability of the multi-hand-foot parallel mechanism has been improved and the walking speed, safety workspace have been increased.