Skip to main content
SpringerLink
Log in

Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations

  • Conference paper
  • First Online:
Book cover Intelligent Robotics and Applications (ICIRA 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9834))

Included in the following conference series:

Abstract

A systematic method for topological structure synthesis of PM based on POC equations is introduced. The complete synthesis process includes the following several steps: (a) synthesize all candidate SOC and HSOC branches based on the POC equation for serial mechanisms, (b) determine branch combination schemes and geometrical conditions for branches to be assembled on two platforms based on POC equation for PMs, (c) check the obtained PMs for design requirements and obtain all usable PMs. Topological structure synthesis of 3T1R PM which can be used in SCARA robot is discussed in detail to illustrate to procedure of this method. 18 types of 3T1R PMs containing no prismatic pair are obtained.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Mitsubishi SCARA robots-RH Series [EB/OL], 16 May 2015. http://www.meau.com/eprise/main/sites/public/Products/Robots/Robot_Videos/default

  2. ABB. IRB 360 FlexPicker [EB/OL], 16 May 2015. http://new.abb.com/products/robotics/industrial-robots/irb-360

  3. Clavel, R.: Device for displacing and positioning an element in space. Switzerland, WO1987003528, 18 June 1987

    Google Scholar 

  4. Pierrot, F., Reynaud, C., Fournier, A.: Delta—a simple and efficient parallel robot. Robotica 8(2), 105–109 (1990)

    Article  Google Scholar 

  5. Fanuc. M-1iA series robots [EB/OL], 16 May 2015. http://robot.fanucamerica.com/products/robots/product.aspx

  6. Pierrot, F., Nabat, V., Company, O., et al.: Optimal design of a 4-DOF parallel manipulator: from academia to industry. IEEE Trans. Rob. 25(2), 213–224 (2009)

    Article  Google Scholar 

  7. Pierrot, F.: High-speed parallel robot with four degrees of freedom: France, WO2006087399A1, 24 Aug 2006

    Google Scholar 

  8. An articulated traveling plate [EB/OL], 16 May 2015. http://www.adept.com/products/robots/parallel/quattro-s650h/downloads

  9. Adept Quattro s650H [EB/OL], 16 May 2015. http://www.adept.com/products/robots/parallel/quattro-s650h/general

  10. Huang, T., Zhao, X.,Wang, P.,et al.: Rod-wheel combined PM with three translations and a rotation: China, CN102152306A. Accessed 17 Aug 2011

    Google Scholar 

  11. Huang, T., Wang, M., Liu, S., et al.: A PM with three translations and one rotation: China, CN201907121U, 27 July 2011

    Google Scholar 

  12. Huang, T., Mei, J., Wang, H., et al.: A high speed PM with three translations and one rotation: China, CN101863024A, 20 Oct 2010

    Google Scholar 

  13. Yuhang, L., Jiangping, M., Songtao, L., et al.: Dynamic dimensional synthesis of a 4-DOF high-speed parallel manipulator (in Chinese). Chin. J. Mech. Eng. 50(19), 32–40 (2014)

    Article  Google Scholar 

  14. Xinjun, L., Fugui, X., Jinsong, W.: Current opportunities in the field of mechanisms in China (in Chinese). Chin. J. Mech. Eng. 51(13), 2–12 (2015)

    Article  Google Scholar 

  15. Yang, T.-L., Jin, Q., Liu, A.-X., et al.: Structural synthesis and classification of the 3-DOF translational parallel robot mechanisms based on the units of single-opened-chain (in Chinese). Chin. J. Mech. Eng. 38(8), 31–36 (2002)

    Article  Google Scholar 

  16. Jin, Q., Yang, T.-L.: Theory for topology synthesis of parallel manipulators and its application to three-dimension-translation parallel manipulators. ASME J. Mech. Des. 126, 625–639 (2004)

    Article  Google Scholar 

  17. Jin, Q., Yang, T.-L.: Synthesis and analysis of a group of 3-degree-of-freedom partially decoupled parallel manipulators. ASME J. Mech. Des. 126, 301–306 (2004)

    Article  Google Scholar 

  18. Yang, T.-L.: Theory and Application of Robot Mechanism Topology (in Chinese). China machine press, Beijing (2004)

    Google Scholar 

  19. Shen, H.-P., Yang, T.-L., et al.: Synthesis and analysis of kinematic structures of 6-DOF parallel robotic mechanisms. Mech. Mach. Theory 40, 1164–1180 (2005)

    Article  MATH  Google Scholar 

  20. Shen, H.-P., Yang, T.-L., et al.: Structure and displacement analysis of a novel three-translation PM. Mech. Mach. Theory 40, 1181–1194 (2005)

    Article  MATH  Google Scholar 

  21. Yang, T.-L., Liu, A.-X., Luo, Y.-F., et al.: Position and orientation characteristic equation for topological design of robot mechanisms. ASME J. Mech. Des. 131, 021001-1-17 (2009)

    Google Scholar 

  22. Yang, T.-L., Sun, D.-J.: A general DOF formula for PMs and multi-loop spatial mechanisms. ASME J. Mech. Robot. 4(1), 011001-1-17 (2012)

    Article  Google Scholar 

  23. Yang, T.-L., Liu, A.-X., Shen, H.-P., et al.: On the correctness and strictness of the POC equation for topological structure design of robot mechanisms. ASME J. Mech. Robot. 5(2), 021009-1-18 (2013)

    Article  Google Scholar 

Download references

Acknowledgment

The authors acknowledge the financial support of the national science foundation of China (NSFC) with grant numbers of 51375062, 51365036, 51475050 and 51405039.

Author information

Authors and Affiliations

  1. Changzhou University, Changzhou, China

    Tingli Yang & Huiping Shen

  2. PLA University of Science and Technology, Nanjing, China

    Anxin Liu

  3. Shanghai University of Engineering Science, Shanghai, China

    Lubin Hang

Authors
  1. Tingli Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Anxin Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Huiping Shen
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Lubin Hang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Anxin Liu .

Editor information

Editors and Affiliations

  1. Tokyo Metropolitan University , Tokyo, Japan

    Naoyuki Kubota

  2. Kyushu University , Fukuoka, Japan

    Kazuo Kiguchi

  3. University of Portsmouth , Portsmouth, United Kingdom

    Honghai Liu

  4. Tokyo Metropolitan University , Tokyo, Japan

    Takenori Obo

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Yang, T., Liu, A., Shen, H., Hang, L. (2016). Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_13

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-43506-0_13

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43505-3

  • Online ISBN: 978-3-319-43506-0

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation