A framework for computer-aided type synthesis of parallel robotic mechanisms

Abstract

In this paper, a framework for computer-aided type synthesis of parallel mechanisms (PMs) is described and the integrated type synthesis software based on the G_F sets theory is developed for the first time. The objective of the software was to automate and facilitate type synthesis of PMs. The G_F sets theory introduced in our earlier works is an effective type synthesis approach with high execution level. This approach is implemented in a software tool. Algorithms for number synthesis of PMs, decomposition of G_F sets, and limbs design method are developed. The computer-aided type synthesis software shows intelligence and self-learning ability of a certain level. Guided by the software, users can complete type synthesis of PMs smoothly with some complex calculations done by the software. The validity of the proposed software is verified through a design example. The design cycle and cost of machinery products using PMs will be reduced with help of the software.

Keywords

Type synthesis parallel mechanisms computer-aided synthesis framework

Get full access to this article

View all access options for this article.

References

Huang

. General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators. Int J Robot Res 2002; 21: 131–145.

Huang

. Type synthesis principle of minor-mobility parallel manipulators. Sci China Ser E-Technol Sci 2002; 45: 241–248.

Huang

. Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. Int J Robot Res 2003; 22: 59–79.

Kong

Gosselin

. Type synthesis of parallel mechanisms, Heidelberg: Springer, 2007.

Kong

Gosselin

. Type synthesis of three-degree-of-freedom spherical parallel manipulators. Int J Robot Res 2004; 23: 237–245.

Zeng

Huang

. Type synthesis of the rotational decoupled parallel mechanism based on screw theory. Sci China-Technol Sci 2011; 54: 998–1004.

Pei

. A unified approach to type synthesis of both rigid and flexure parallel mechanisms. Sci China-Technol Sci 2011; 54: 1206–1219.

Herve

. Analyse structurelle des mécanismes par groupe des déplacements. Mech Machine Theor 1978; 13: 437–450.

Herve

. The Lie group of rigid body displacements, a fundamental tool for mechanism design. Mech Machine Theor 1999; 34: 719–730.

10.

Meng

Liu

. A geometric theory for analysis and synthesis of sub-6 DoF parallel manipulators. Ieee Transact Robot 2007; 23: 625–649.

11.

Herve

. Parallel mechanisms with bifurcation of schoenflies motion. IEEE Transact Robot 2009; 25: 158–164.

12.

Lee

Herve

. Generators of the product of two Schoenflies motion groups. Eur J Mech A-Solid 2010; 29: 97–108.

13.

Dai

. Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration. Sci China-Technol Sci 2010; 53: 388–404.

14.

Shen

Yang

. Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms. Mech Machine Theor 2005; 40: 1164–1180.

15.

Yang

Liu

Jin

. Position and orientation characteristic equation for topological design of robot mechanisms. J Mech Des 2009; 131: 021001–021001.

16.

Yang

Sun

. A general degree of freedom formula for parallel mechanisms and multiloop spatial mechanisms. J Mech Robot 2012; 4: 011001–011001.

17.

Gogu

. Structural synthesis of parallel robots: Part 1: Methodology, Dordrecht: Springer, 2007.

18.

Gogu

. Structural synthesis of parallel robots: Part 2: Translational topologies with two and three degrees of freedom, Dordrecht: Springer, 2009.

19.

Gogu

. Structural synthesis of parallel robots: Part 3: Topologies with planar motion of the moving platform, Dordrecht: Springer, 2010.

20.

Gogu

. Structural synthesis of parallel robots, Part 4: Other topologies with two and three degrees of freedom, London: Springer, 2012.

21.

Modi

Tiwari

Lin

. On the architecture of a human-centered CAD agent system. Comput-Aided Des 2011; 43: 170–179.

22.

Guanlong

Jiangqi

Cai

. A framework for an automotive body assembly process design system. Comput Aided Des 2006; 38: 531–539.

23.

Jang

Kim

. Integrated topology and shape optimization software for compliant MEMS mechanism design. Adv Eng Softw 2008; 39: 1–14.

24.

Tang

. An approach to the selection of mechanism types in computer-aided conceptual design. Proc IMechE, Part C: J Mechanical Engineering Science 2008; 222: 423–433.

25.

Chakrabarti A, Shea K, Stone R, et al. Computer-based design synthesis research: an overview. J Comput Inform Sci Eng 2011; 11.

26.

Ketchel

Larochelle

. Computer-aided modeling and manufacturing of spherical mechanisms via a novel web tool. J Comput Inform Sci Eng 2007; 7: 339–339.

27.

Liu

McPhee

. Automated type synthesis of planar mechanisms using numeric optimization with genetic algorithms. J Mech Des 2005; 127: 910–916.

28.

Rao

Deshmukh

. Computer aided structural synthesis of planar kinematic chains obviating the test for isomorphism. Mech Machine Theor 2001; 36: 489–506.

29.

Grimm

Murray

Turner

. Software for the kinematic synthesis of coupler-driven spherical four-bar mechanisms, New York: Amer Soc Mechanical Engineers, 2008, pp. 589–595.

30.

Ding

Cui

. Computer application in type synthesis based on systematic linkage and topology matrix-graph approach, Los Alamitos: IEEE Computer Society, 2009, pp. 118–122.

31.

Gupta

. Computer-aided synthesis of mechanisms using nonlinear programming. Trans ASME, B, J Eng Ind 1973; 95: 339–344.

32.

Luck

Modler

. Computer synthesis of 4-bar mechanisms for preassigned positions. Wiss Z Tech Univ Dresd 1973; 22: 509–513.

33.

Gao

Zhao

. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mech Machine Theor 2002; 37: 1395–1411.

34.

Gao

Yang

. Type synthesis of parallel mechanisms having the second class G(F) sets and two dimensional rotations. J Mech Robot-Transact ASME 2011; 3: 011003–011003.

35.

Yang

Gao

. Type synthesis of parallel mechanisms having the first class G(F) sets and one-dimensional rotation. Robotica 2011; 29: 895–902.

36.

Gao

Liu

Gruver

. Performance evaluation of two-degree-of-freedom planar parallel robots. Mech Machine Theor 1998; 33: 661–668.

37.

Bai

Gao

Guo

. Performance analytical study of the dual screws actuation mechanism. J Mech Sci Technol 2012; 26: 3277–3289.

38.

Bai

Gao

Guo

. Kinematic and dynamic analyses of the multi-actuated mechanical press with parallel topology. Proc IMechE, Part C: J Mechanical Engineering Science 2012; 226: 2573–2588.

39.

Chu

Gao

. Kinematic coupling complexity of heavy-payload forging manipulator. Robotica 2012; 30: 551–558.

40.

Chu

Gao

. Direct kinematic analysis of a heavy-payload forging manipulator in the grasping stage. Industrial Robot: Int J 2012; 39: 11–11.

41.

Pan Y and Gao F. Kinematical model and topology patterns of a new 6-parallel-legged walking robot. In: ASME 2012 international design engineering technical conferences (IDETC) and computers and information in engineering conference (CIE), Chicago, August 2012. Chicago, IL: ASME, 2012.

42.

Meng

Gao

. Basic problems and criteria for synthesis of robotics. Int J Mech Robot Syst 2013; 1: 35–48.

43.

Meng X and Gao F. The GF sets: a new kind of performance criterion of mechanisms. In: ASME 2012 international design engineering technical conferences (IDETC) and computers and information in engineering conference (CIE), Chicago, August 2012. Chicago, IL: ASME, 2012.

44.

Dai

Jones

. Mobility in metamorphic mechanisms of foldable/erectable kinds. J Mech Design 1999; 121: 375–382.

45.

Dai

Huang

Lipkin

. Mobility of overconstrained parallel mechanisms. J Mech Des 2006; 128: 220–229.

46.

Gan

Dai

Caldwell

. Constraint-based limb synthesis and mobility-change-aimed mechanism construction. J Mech Des 2011; 133: 051001–051001.