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Mechanism Composition Principle Based on Single-Open-Chain Unit

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Topology Design of Robot Mechanisms

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Abstract

The mechanism composition principle based on Single-Open-Chain (SOC) unit is introduced in this chapter. The content deals with: (1) The mechanism composition principle based on SOC unit is proposed. Constraint degree of SOC is defined, which is used to describe constraint features of SOC unit to DOF of the mechanism. (2) A general method for decomposing an AKC into ordered SOCs is proposed. The coupling degree of an AKC is defined and is used to represent complexity of the AKC. (3) A general method for decomposing mechanism into ordered SOCs is proposed. Criteria for AKC determination is defined and is used to determine AKCs contained in the mechanism. (4) A general method for determination of DOF types is proposed based on the AKCs in the mechanism. And a general method for motion decoupling design based on partial DOF is proposed. (5) This mechanism composition principle could be used to establish a systematic theory for unified modeling of mechanism topology, kinematics and dynamics based on SOC unit (refer to Sect. 7.7).

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Author information

Authors and Affiliations

  1. Changzhou University, Changzhou, China

    Ting-Li Yang

  2. Nanhang Jincheng College, Nanjing, China

    Anxin Liu

  3. Changzhou University, Changzhou, China

    Huiping Shen

  4. Shanghai University of Engineering Science, Shanghai, China

    Lubin Hang

  5. Nanchang University, Nanchang, China

    Yufeng Luo

  6. The Boeing Company, Seattle, WA, USA

    Qiong Jin

Authors
  1. Ting-Li Yang
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  2. Anxin Liu
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  3. Huiping Shen
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  4. Lubin Hang
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  5. Yufeng Luo
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  6. Qiong Jin
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Correspondence to Ting-Li Yang .

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Yang, TL., Liu, A., Shen, H., Hang, L., Luo, Y., Jin, Q. (2018). Mechanism Composition Principle Based on Single-Open-Chain Unit. In: Topology Design of Robot Mechanisms. Springer, Singapore. https://doi.org/10.1007/978-981-10-5532-4_7

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  • DOI: https://doi.org/10.1007/978-981-10-5532-4_7

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  • Online ISBN: 978-981-10-5532-4

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