Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

Qu Shuwei; Li Ruiqin; Bai Shaoping

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Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

机译：基于李群和螺旋理论的2T1R解耦并联机构类型综合

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Decoupled parallel mechanisms (DPMs) have the characteristics of compact structure and simple control with wide applications. This paper presents a new method of type synthesis for DPMs by virtue of Lie groups and screw theory. The method consists of synthesis at limb level and configuration level. At limb level, Lie group is used to synthesize the limbs with required DOFs. At configuration level, screw theory is adopted to determine configuration with synthesized limbs that satisfy the type synthesis criteria of DPMs. The type synthesis criteria including limb decoupling and selection of the driving pairs are presented. Upon the formulation, the procedure of type synthesis of DPMs is developed. Type synthesis is conducted with the proposed method, which leads to new spatial and planar fully decoupled 2T1R mechanisms.

机译：解耦并行机制（DPM）具有结构紧凑，控制简单，适用范围广的特点。本文利用李群和螺旋理论提出了一种新型的DPM类型综合方法。该方法包括肢体水平和构型水平的综合。在肢体水平，李群用于合成具有所需自由度的肢体。在配置级别，采用螺丝理论来确定具有满足DPM类型合成标准的合成肢体的配置。提出了类型综合标准，包括肢体解耦和驾驶对的选择。根据配方，开发了DPM的类型合成程序。使用提出的方法进行类型综合，从而导致新的空间和平面完全解耦的2T1R机制。

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来源
《Mathematical Problems in Engineering》 |2017年第7期|8304312.1-8304312.11|共11页
作者
Qu Shuwei; Li Ruiqin; Bai Shaoping;
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North Univ China, Sch Mech & Power Engn, Taiyuan 030051, Peoples R China;

North Univ China, Sch Mech & Power Engn, Taiyuan 030051, Peoples R China;

North Univ China, Sch Mech & Power Engn, Taiyuan 030051, Peoples R China|Aalborg Univ, Dept Mech & Mfg Engn, Aalborg, Denmark;

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1. Type Synthesis Method for the Translational Decoupled Parallel Mechanism Based on Screw Theory [J] . Da-Xing Zeng, Yu-Lei Hou, Wen-Juan Lu, 哈尔滨工业大学学报（英文版） . 2014,第001期

机译：基于螺旋理论的平移解耦并联机构类型综合方法
2. Type Synthesis of Parallel 2R1T Remote Center of Motion Mechanisms Based on Screw Theory [J] . Long Huang, Chenhan Guang, Yang Yang, MATEC Web of Conferences . 2017,第1期

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3. Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory [J] . Sheng Guo, Yuefa Fang, Haibo Qu Robotica . 2012,第pta1期

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4. Type synthesis of 2R-T parallel mechanisms based on the screw theory for haptic applications [C] . Nahid Khajeh Ahmadi, Fateme Zarei, Hamid D. Taghirad RSI International Conference on Robotics and Mechatronics . 2016

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5. Type synthesis and kinematics of general and analytic parallel mechanisms. [D] . Kong, Xianwen. 2003

机译：通用和解析并行机制的类型综合和运动学。
6. Screw theory based mathematical modeling and kinematic analysis of a novel ankle rehabilitation robot with a constrained 3-PSP mechanism topology [O] . Zhiwei Liao, Ligang Yao, Zongxing Lu, -1

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7. Type Synthesis of Parallel 2R1T Remote Center of Motion Mechanisms Based on Screw Theory [O] . Long Huang, Chenhan Guang, Yang Yang, 2017

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Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

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