Type synthesis of parallel mechanisms with multiple operation modes

Xianwen Kong, Clément M. Gosselin, Pierre L. Richard

Research output: Contribution to journalArticle

133 Citations (Scopus)

Abstract

There are usually several motion patterns having the same degrees of freedom (DOF). For example, planar motion, spherical motion, and spatial translation are motion patterns with 3 DOF. An f-DOF parallel mechanism with multiple operation modes is a parallel mechanism that can generate different motion patterns with f DOF. Up to now, no method has been proposed for the type synthesis of parallel mechanisms with multiple operation modes. This paper presents a general method for the type synthesis of parallel mechanisms with multiple operation modes. Using the proposed approach, 3-DOF parallel mechanisms with both spherical and translational modes, i.e., parallel mechanism generating both a spherical motion pattern and a spatial translational motion pattern, are generated systematically. A large number of parallel mechanisms with both spherical and translational modes are obtained. Copyright © 2007 by ASME.

Original languageEnglish
Pages (from-to)595-601
Number of pages7
JournalJournal of Mechanical Design, Transactions of the ASME
Volume129
Issue number6
DOIs
Publication statusPublished - Jun 2007

Keywords

  • Parallel mechanism
  • Parallel mechanism with multiple operation modes
  • Screw theory
  • Type synthesis

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