Abstract
A mechanism composed of generalized links and kinematic pairs is defined as the generalized mechanism, which is capable of transforming motions and forces. It is an expansion of traditional rigid mechanisms and can better reflect the material characteristics. The constraint screw systems of limbs were constructed according to the screw description of generalized links and kinematic pairs. By using screw reciprocal operations, the kinematics screw can be obtained. In addition, the analysis method of kinematic characteristics was established. After that, the inverse-kinematics configuration synthesis method was proposed by inversing the mechanism kinematics analysis. Given the specified motion, the constraint screw system of generalized mechanism was obtained. The constraint screw system can be further decomposed and computed to get the limb kinematics screw systems. Accordingly, the kinematic limbs of the generalized mechanism were obtained. By permutating the kinematic limbs, the desirable configurations of generalized mechanism were obtained.
Similar content being viewed by others
References
Ball RS (1900) The Theory of Screws. Cambridge University Press, Cambridge, pp 5–12
Chang BY, Jin GG, Dai JS (2014) Type synthesis of metamorphic mechanism based on variable constraint screw theory. J Mech Eng 50:17–25
Gogu G (2004) Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations. Eur J Mech A Solids 23:1021–1039
Huang Z, Li QC (2002) General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators. Int J Robot Res 21:131–146
Huang Z, Li QC (2003) Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. Int J Robot Res 22:59–79
Huang Z, Zhao TS, Li QC (2000) Basic synthesis theory of space lower-mobility parallel mechanisms. In: First proceedings of the international conference on mechanical engineering, Shanghai
Huang Z, Liu JF, Zeng DX (2009) A general methodology for mobility analysis of mechanisms based on constraint screw theory. Sci China 52:1337–1347
Hunt KH (1978) Kinematic geometry of mechanisms. Oxford University Press, Oxford
Kong XW, Gosselin CM (2004) Type synthesis of 3-DoF translational parallel manipulators based on screw theory. ASME J Mech Des 126:83–92
Lee CC, Hervé JM (2006) Translational parallel manipulators with doubly planar limbs. Mech Mach Theory 41:433–455
Li TJ, Wang Y (2009) Research on methods of topological synthesis of space deployable structure. J Astronaut 30:2077–2081
Li QC, Yang YZ, Chen QH et al (2007) Mobility analysis of lower-mobility parallel mechanisms based on screw theory. J Zhejiang Sci-Tech Univ 24:433–438
Li TJ, Jiang J, Dong HJ, Zhang L (2016) Configuration synthesis of generalized deployable units via group theory. Mech Sci 7:201–208
Li TJ, Jiang J, Deng HQ (2017) Analysis of structural characteristics and mobility of planar generalized mechanisms. Iran J Sci Technol Trans Mech Eng 41(1):25–34
Mccarthy JM (2012) 21st Century kinematics. Springer, Berlin
Su HJ, Dorozhkin DV, Vance JM (2009) A screw theory approach for the conceptual design of flexible joints for compliant mechanisms. J Mech Robot 1:041009-1
Thomson MW (1999) The Astromesh deployable reflector. IEEE Antennas Propag Soc 3:1516–1519
Yang TL, Jin Q, Liu AX et al (2002) Structural synthesis and classification of the 3-DoF translational parallel robot mechanisms based on the units of single-opened-chain. Chin J Mech Eng 38:31–35
Yu JJ, Li SZ, Pei X et al (2011) A unified approach to type synthesis of both rigid and flexure parallel mechanisms. Sci China Technol 54:1206–1219
Zhao TS (2000) Theoretical issues on analysis and synthesis of space lower-mobility parallel mechanisms Ph.D. Yanshan University, Qinhuangdao
Acknowledgements
This project is supported by National Natural Science Foundation of China (Grant No. 51775403).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Chen, C., Li, T. & Tang, Y. Configuration Synthesis of Generalized Mechanism Based on Screw Theory. Iran J Sci Technol Trans Mech Eng 43 (Suppl 1), 1013–1021 (2019). https://doi.org/10.1007/s40997-018-0211-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s40997-018-0211-8