Journal
MECHANISM AND MACHINE THEORY
Volume 61, Issue -, Pages 184-190Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2012.10.006
Keywords
Parallel mechanism; Type synthesis; Configuration evolution; Lie group theory
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Funding
- National Natural Science Foundation of PR China [51275404, 50905055]
- Research Foundation of Excellent Doctoral Dissertation of Xi'an University of Technology [102-210911]
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Based on the integration of configuration evolution and Lie group theory, a method for the type synthesis of parallel mechanisms (PM) is presented. Using the proposed approach, parallel mechanisms with two-translational two-rotational (2T2R) degrees of freedoms (DOFs), one-translational two-rotational (1T2R) DOFs and two-rotational (2R) DOFs are synthesized systematically. A large number of parallel mechanisms with 2T2R, 1T2R and 2R motion are obtained, which substantially enriches the topologies of lower-mobility parallel manipulators. (C) 2012 Elsevier Ltd. All rights reserved.
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