STRUCTURAL SYNTHESIS AND VARIATION ANALYSIS OF A FAMILY OF 6-DOF PARALLEL MECHANISMS WITH THREE LIMBS
H. Yu, B. Li, X. Yang, and Y. Hu
Keywords
Parallel mechanisms, structural synthesis, structural variation, screwtheory, group theory
Abstract
This paper presents the structural synthesis and variation of a
family of six degrees of freedom (DoF) parallel mechanisms with
three limbs, based on screw theory and group theory. Firstly
the preliminaries of screw theory and group theory are briefly
introduced; three corollaries and a geometric approach are presented
to solve the reciprocity and correlation between screws. Then
a general procedure is developed for the structural synthesis of
parallel mechanisms. A family of 6-DoF parallel mechanisms with
structure of 3-RXPX (X, alternative of R-, U- or S-pair) are
proposed according to the developed procedure. The structural
variation methods based on screw reconstruction and displacement
manifold variation are proposed for the extension of the constructed
mechanisms. Two examples corresponding to the two proposed
variation methods show that the structural variation methods are
valid to expand the number of the synthesized parallel mechanisms.
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