Mechanism design and kinematic analysis of a bioinspired 5-DOF parallel driving mechanism

Biological inspiration is a critical approach for the innovative design of mechanisms. This paper presents the concept of the inspire-mapping-synthesis design process as a paradigm for biological inspiration in the mechanism design. By establishing the mapping relationships from the or-ganism's local musculoskeletal system to the mechanism configuration, a new type of mechanism called parallel driving mechanism (PDM) is proposed. The PDM consists of the driving mecha-nism, operating mechanism, and connecting joint. On this basis, a bionic 5-DOF PDM inspired by the manual two-arm operation is synthesized. First, the operating mechanism is designed under the guidance of a graphical type synthesis method. The two-parallelogram composite structure and the coupling chain in the operating mechanism bring better stiffness. Then a blocking strategy is proposed to match the driving mechanism. Finally, the motion mechanism is revealed to perform the inverse kinematic position analysis. The proposed 5-DOF PDM has good potential in terms of high accuracy and high stiffness manipulation. This work provides new ideas for innovative mechanism design.

Automated summary

This paper discusses the importance of biological inspiration in mechanism design and introduces the concept of the inspire-mapping-synthesis design process. By mapping the local musculoskeletal system of organisms to mechanism configurations, a new type of mechanism called parallel driving mechanism (PDM) is proposed. A bionic 5-DOF PDM inspired by manual two-arm operation is synthesized. This work provides new ideas for innovative mechanism design.