Configuration Evolution Method of Stewart Platform Based on Finite Screw Theory
Aiming at obtaining lower-mobility parallel mechanisms (PMs) in a topological and direct manner, this paper intends to propose an approach for configuration evolution of Stewart Platform and its variations. Firstly, the finite motion of Stewart Platform is described by utilizing finite screw and the motion mapping with lower-mobility PMs is formulated. Then the relationship between motion and topology is revealed in an analytical form. Following with these work, the principles for removing motions and their according topological manipulations are derived. A two-step method for configuration evolution is proposed. Finally, two examples as spatial translational and planar motion PMs are taken to show the concise process of the method and target PMs with closed-loop limbs are obtained. The principles involved in this approach are proved algebraically, but they are easy to be performed by simple topological manipulations such as synchronously driving and locking joints without any calculations even mathematic knowledge. This method facilitates the concise acquirement of lower-mobility PMs, especially 3-degree-of-freedom (DoF) PMs in the engineering.
KeywordsParallel Mechanism Topology Design Configuration Evolution Finite Screw
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This work is funded by National Natural Science Foundation of China (grants 51875391). X. M. Huo gratefully acknowledges the support of Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University.
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