Type synthesis of parallel mechanisms with multiple operation modes

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

doi:10.1115/1.2717228

Type synthesis of parallel mechanisms with multiple operation modes

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

School of Engineering & Physical Sciences

Research output: Contribution to journal › Article › peer-review

185 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 language	English
Pages (from-to)	595-601
Number of pages	7
Journal	Journal of Mechanical Design, Transactions of the ASME
Volume	129
Issue number	6
DOIs	https://doi.org/10.1115/1.2717228
Publication status	Published - Jun 2007

Keywords

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

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10.1115/1.2717228

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title = "Type synthesis of parallel mechanisms with multiple operation modes",

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 {\textcopyright} 2007 by ASME.",

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AU - Kong, Xianwen

AU - Gosselin, Clément M.

AU - Richard, Pierre L.

PY - 2007/6

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AB - 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.

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KW - Parallel mechanism with multiple operation modes

KW - Screw theory

KW - Type synthesis

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DO - 10.1115/1.2717228

M3 - Article

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JO - Journal of Mechanical Design, Transactions of the ASME

JF - Journal of Mechanical Design, Transactions of the ASME

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Type synthesis of parallel mechanisms with multiple operation modes

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Keywords

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