Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators  

作　　者：Jingjun Yu Jian S. Dai Shusheng Bi Guanghua Zong 

机构地区：[1]Robotics Institute, Beihang University, Beijing 100083, China [2]Department of Mechanical Engineering, School of Physical Science and Engineering, King＇s College, University of London, The Strand, London WC2R 2LS, UK

出　　处：《Progress in Natural Science:Materials International》2008年第5期563-574,共12页自然科学进展·国际材料（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China (Grant No. 50405007) ; Beijing Nova Program (2006A13).

摘　　要：Low-degree-of-freedom （Low-DOF） parallel manipulators （PMs） have drawn extensive interests, particularly in type synthesis in which two main formal approaches were established by using the reciprocal screw system theory and Lie group theory. This paper aims at numeration and type synthesis of orthogonal translational parallel manipulators （OTPMs） by resorting to an integration of the group- based method and graphical representation of the topology. For this purpose, the concept of Cartesian DOF-characteristic matrix, orig- inated from displacement subgroup and displacement submanifold, is proposed. A new approach based on the combination of the atlas of Cartesian DOF-characteristic matrix and the displacement group-theoretic method is addressed for both exhaustive classification and type synthesis of OTPMs. The proposed approach is prone to construct an orthogonal structure and is easy to realize the complete classification and exhaustive enumeration of this class of low-DOF PMs.Low-degree-of-freedom (Low-DOF) parallel manipulators (PMs) have drawn extensive interests, particularly in type synthesis in which two main formal approaches were established by using the reciprocal screw system theory and Lie group theory. This paper aims at numeration and type synthesis of orthogonal translational parallel manipulators (OTPMs) by resorting to an integration of the group- based method and graphical representation of the topology. For this purpose, the concept of Cartesian DOF-characteristic matrix, orig- inated from displacement subgroup and displacement submanifold, is proposed. A new approach based on the combination of the atlas of Cartesian DOF-characteristic matrix and the displacement group-theoretic method is addressed for both exhaustive classi cation and type synthesis of OTPMs. The proposed approach is prone to construct an orthogonal structure and is easy to realize the complete clas- si cation and exhaustive enumeration of this class of low-DOF PMs.

关 键 词：Type synthesis Displacement group Orthogonal translational parallel manipulator 

分 类 号：TH11[机械工程—机械设计及理论]