A general formula of degree of freedom for parallel mechanisms

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2, Issue PARTS A AND B, 2008, Pages 1379-1390

  Yang, Ting Li ^a   Sun, Dun Jin ^a  

^a SINOPIC Jinling Petrochemical Corp   (China)

Author keywords

[No Author keywords available]

Indexed keywords

CHARACTERISTIC EQUATION; DEGREE OF FREEDOM; DEGREE OF FREEDOM (DOF); DRIVING PAIRS; KEY PARAMETERS; MULTI-LOOP MECHANISMS; PARALLEL MECHANISMS; SCREW THEORY; SYMBOLIC OPERATIONS;

DESIGN;

MECHANISMS;

EID: 80054085062     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2008-49077     Document Type: Conference Paper

References (25)

1. Chebychev P.A., 1854, The′orie des me′canismes connus sous le nom de paralle′logrammes, 1ère partie, Me′moires pre′sente′s àl Acade′mie impe′riale des sciences de Saint- Pe′tersbourg par divers savants.
2. Grubler M., 1916, Das Kriterium der Zwänglau.gkeit der Schraubenkelten, Festschrift, O. Mohr. Zum 80, Gubertstag, Berlin, Julius Springer Verlag.
3. Kutzbach K., 1929, Mechanische Leitungsverzweigung, ihre Gesetze und Anwendungen, Maschinenbau, 8, 710-716.
4. Freudenstein F., Alizade R., 1975, On the degree-of-freedom of mechanisms with variable general constraint, Fourth World Congress on the Theory of Machines and Mechanisms.
5. Gogu G., 2005, Mobility of Mechanisms: a Critical Review, Mech. Mach. Theory, 40, pp.1068-1097. (Pubitemid 41145410)
6. Hunt K.H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, Oxford.
7. Huang Z., Li Q.C., 2003, Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraintsynthesis method, Int. J. Robotics Res. 22, 59-79.
8. Kong X., and Gosselin C.M., 2005, Mobility Analysis of Parallel Mechanisms Basedon Screw Theory and The Concept of Equivalent Serial Kinematic Chain, Proc. of the ASME Design Engineering Technical Conf., DETC2005-85337.
9. Dai J.S., Huang Z. and Lipkin H., 2005, Mobility of Overconstrained Parallel Mechanisms, ASME Journal of Mechanical Design, Vol. 128, pp. 220-229.
10. Gogu G., 2005, Mobility and Spatiality of Parallel Robots Revisited via Theory of Linear Transformations, European J. of Mechanics A/Solid, Vol.24, pp.690-711. (Pubitemid 41101025)
11. Herve J. M., 1978, Analyse Structurelle des Mecanismes par Groupe des Deplacements, " Mech. Mach. Theory, Vol. 13, pp. 437-450. (Pubitemid 9400460)
12. Fanghella, P., Galletti, C., 1994, Mobility analysis of singleloop kinematic chains: an algorithmic approach based on displacement groups, Mech. Mach. Theory, 29, pp. 1187-1204.
13. Fanghella P., Galletti C., 1995, Metric relations and displacement groups in mechanism and robot kinematics, Trans. ASME, J. Mech. Des. 117, pp.470-478.
14. Rico Martinez, J.M., Ravani, B., 2003, On mobility analysis of linkages using group theory, ASME, J. Mech. Des. 125, 70-80.
15. Rico J.M., Aguilera L.D., Gallardo J., Rodriguez R., Orozco H., Barrera J. M., 2006, A More General Mobility Criterion for Parallel Platforms, ASME, J. Mech. Des. 128, 207-219.
16. Rico J.M., et al., 2007, Mobility of Single Loop Linkages: A Final Word? Proc. of ASME Mechanisms Conf., DETC2007- 34936.
17. Yang T.-L., 1983, Structural Analysis and Number Synthesis of Spatial Mechanisms, Proc. of the 6th World Cong., On the Theory of Machines and Mechanisms, 1, 280-283.
18. Yang T.-L., 1986, Kinematic Structural Analysis and Synthesis of Over-constrained Spatial Single-Loop-Chains, Proc. of the 19-th Biennial Mechanisms Conf., Columbus, ASME paper 86- DET-189.
19. Jin, Q., and Yang T.-L., 2004, "Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three Dimension Translation Parallel Manipulators, " ASME J. Mech. Des., 126, pp. 625-639.
20. Yang T.-L., and Yao F.-H., 1992, Topological Characteristics and Automatic Generation of Structural Analysis and Synthesis of Spatial Mechanisms, Part I-Theory, Part II-Application. Proc. of ASME Mechanisms Conf., DE-47, 179-190.
21. Yang T.-L., Jin Q., etc al., 2001, Structural Synthesis of 4-DOF (3-Translational and 1- Rotation) Parallel Robot Mechanisms Based on the Unites of Single-opened-chain, The 27th Design Automation Conference, Pittsburgh, ASME DETC2001/DAC-21152.
22. Yang T.-L. and Sun D.-J., 2006, General Formula of Degree of Freedom for Parallel Mechanisms and Its Application, Proc. of ASME 2006 Mechanisms Conference, DETC2006-99129.
23. Yang T.-L., et al., 2008, Position and Orientation Characteristic Equation for Topological Design of Serial Mechanisms, Proceeding of the ASME 32nd Annual Mechanisms and Robotics Conference, DETC2008-49074.
24. Yang T.-L., et al., 2008, Position and Orientation Characteristic Equation for Topological Design of Parallel Mechanisms, Proceeding of the ASME 32nd Annual Mechanisms and Robotics Conference, DETC2008-49075.
25. Yang T.-L., et al., 2008, Rank and Mobility of Single Loop Kimematic Chains, Proceeding of the ASME 32nd Annual Mechanisms and Robotics Conference, DETC2008-49076.