Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit
By analyzing the characteristics of structures for the lower- mobility serial robot mechanism and parallel robot mechanism,a systematic and effective type synthesis including the definition and symbol denotation method of both hybrid robot with a parallel mechanism and multi- parallel mechanisms met...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.12.006 |
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| _version_ | 1841548741804294144 |
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| author | Chen Hai Qin Youlei Cao Yi |
| author_facet | Chen Hai Qin Youlei Cao Yi |
| author_sort | Chen Hai |
| collection | DOAJ |
| description | By analyzing the characteristics of structures for the lower- mobility serial robot mechanism and parallel robot mechanism,a systematic and effective type synthesis including the definition and symbol denotation method of both hybrid robot with a parallel mechanism and multi- parallel mechanisms method is proposed for hybrid robot mechanisms based on the principle of movement spiral linear independence and units of the lower- mobility serial mechanism with single- opened- chain limb. Firstly,type synthesis of 3T2 R 5- DOF serial mechanism with single- opened- chain is classified based on the screw theory,then the type synthesis of 3T2 R hybrid mechanisms are accomplished by regarding parallel mechanism as a complex kinematic unit and replacing an equal DOF kinematic chain limb in lower- mobility serial mechanism with single- opened- chain limb. Finally,other type synthesizes for other type synthesizes of 3T2 R hybrid mechanism are generated by the linear combination of the kinematics screw. |
| format | Article |
| id | doaj-art-93391d5b58b742569a6241c4f040f67c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-93391d5b58b742569a6241c4f040f67c2025-01-10T14:02:51ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139283429920813Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain UnitChen HaiQin YouleiCao YiBy analyzing the characteristics of structures for the lower- mobility serial robot mechanism and parallel robot mechanism,a systematic and effective type synthesis including the definition and symbol denotation method of both hybrid robot with a parallel mechanism and multi- parallel mechanisms method is proposed for hybrid robot mechanisms based on the principle of movement spiral linear independence and units of the lower- mobility serial mechanism with single- opened- chain limb. Firstly,type synthesis of 3T2 R 5- DOF serial mechanism with single- opened- chain is classified based on the screw theory,then the type synthesis of 3T2 R hybrid mechanisms are accomplished by regarding parallel mechanism as a complex kinematic unit and replacing an equal DOF kinematic chain limb in lower- mobility serial mechanism with single- opened- chain limb. Finally,other type synthesizes for other type synthesizes of 3T2 R hybrid mechanism are generated by the linear combination of the kinematics screw.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.12.006Single-opened-chainScrew theorySerial mechanismHybrid robot mechanism |
| spellingShingle | Chen Hai Qin Youlei Cao Yi Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit Jixie chuandong Single-opened-chain Screw theory Serial mechanism Hybrid robot mechanism |
| title | Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit |
| title_full | Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit |
| title_fullStr | Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit |
| title_full_unstemmed | Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit |
| title_short | Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit |
| title_sort | type synthesis of 3r2t hybrid robot mechanisms based on serial opened chain unit |
| topic | Single-opened-chain Screw theory Serial mechanism Hybrid robot mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.12.006 |
| work_keys_str_mv | AT chenhai typesynthesisof3r2thybridrobotmechanismsbasedonserialopenedchainunit AT qinyoulei typesynthesisof3r2thybridrobotmechanismsbasedonserialopenedchainunit AT caoyi typesynthesisof3r2thybridrobotmechanismsbasedonserialopenedchainunit |