nach oben

Erschienen in:

2019 | OriginalPaper | Buchkapitel

Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

verfasst von : Vladimir Pozhbelko, Ekaterina Kuts

Erschienen in: Mechanism, Machine, Robotics and Mechatronics Sciences

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

Structural synthesis of kinematic chains and multiple DOF multiloop mechanisms with specified input parameters is the first and the most important stage in the mechanical conceptual creative design of robots. This paper proposes a new approach to structural synthesis and creative design of closed-loop robotic mechanism with simple and multiple joints based on an original addition synthesis method. First, the structural synthesis method of non-fractionated and fractionated multiple joint kinematic chains with the smallest closed loop is presented. Then, the complete atlas database of all feasible 12 types of 2-DOF, 7-link, 2-basic (independent) loops generalized simple and multiple joint kinematic chain and corresponding atlas of hinged mechanisms are obtained. Third, based on classified atlas databases of kinematic chains and mechanisms with simple and multiple joints, a creative design method is proposed to obtain all the feasible mechanisms for a specified task. Finally, examples of the creative design of single arm robot manipulators are also conducted to demonstrate the effectiveness of the proposed method.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel Parallel Robot Integration and Synchronization in a Waste Sorting System

Nächstes Kapitel Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains with Multiple Joints and Its Analysis in Robotics

Erdman AG, Sandor G (1984) Mechanism design: analysis and synthesis. Prentice-Hall, Englewood Cliffs, New Jersey

Uicker JJ, Pennock GR, Shingley JE (2003) Theory of machines and mechanisms. Oxford University Press, New York

Hunt KH (1978) Kinematic geometry of mechanisms. Oxford University Press, New YorkMATH

Crossley FRE (1964) A contribution to Gruebler’s theory in the number synthesis of plane mechanisms. ASME J Eng Ind 86(1):1–8MathSciNetCrossRef

Manolescu NI (1973) A method based on Baranov trusses and using graph theory to find the set of planar jointed kinematic chains and mechanisms. Mech Mach Theory 8(1):3–22CrossRef

Butcher EA, Hartman C (2005) Efficient enumeration and hierarchical classification of planar simple-jointed kinematic chains: Application to 12-and 14-bar single degree-of-freedom chains. Mech Mach Theory 40(9):1030–1050CrossRef

Dobrjanskyj L, Freudenstein F (1967) Some applications of graph theory to the structural analysis of mechanisms. ASME J Eng Ind 89(1):153–158CrossRef

Tuttle ER, Peterson SW, Titus JE (1989) Enumeration of basic kinematic chains using the theory of finite group. J Mech Trans Autom 111(4): 498–503CrossRef

Yan HS, Hwang YW (1990) Number synthesis of kinematic chains based on permutation groups. Math Comput Model 13(8):29–42MathSciNetCrossRef

10.

Hwang WM, Hwang YW (1992) Computer-aided structural synthesis of planar kinematic chains with simple joints. Mech Mach Theory 27(2):189–199CrossRef

11.

Yan HS, Chiu YT (2015) On the number synthesis of kinematic chains. Mech Mach Theory 89(7):128–144CrossRef

12.

Yan HS (1998) Creative design of mechanical devices. Springer, Singapore

13.

Tsai LW (2001) Mechanism design: enumeration of kinematic structures according to function. CRC Press, Florida

14.

Tsai LW (1999) Robot analysis: the mechanics of serial and parallel manipulators. Wiley, New York

15.

Ceccarelli M (2004) Fundamentals of mechanics of robotic manipulation. Kluwer Academic Publishers, DordrechtCrossRef

16.

Ghosal A (2006) Robotics: fundamental concepts and analysis. Oxford University Press, Oxford, UK

17.

Angeles J 2007 Fundamentals of robotic mechanical systems. Theory, methods and algorithms. Springer, New York

18.

Simoni R, Carboni AP, Martins D (2009) Enumeration of kinematic chains and mechanisms. Proc Inst Mech Eng Part C J Mech Eng Sci 223(4):1017–1024CrossRef

19.

Simoni R, Carboni AP, Simas H, Martins D (2011) Enumeration of kinematic chains and mechanisms review. In: 13th world congress in mechanism and machine science, Guanajuato, México, 19–25 June, 2011

20.

Ding H, Hou F, Kecskemethy A, Huang Z (2011) Synthesis of a complete set of contracted graphs for planar non-fractionated simple-jointed kinematic chains with all possible DOFs. Mech Mach Theory 46(11):1588–1600CrossRef

21.

Ding HF, Huang P, Zi B, Kecskemethy A (2012) Automatic synthesis of kinematic structures of mechanisms and robots especially for those with complex structures. Appl Math Model 36(12):6122–6131MathSciNetCrossRef

22.

Ding HF, Hou FM, Kecskeméthy A, Huang Z (2012) Synthesis of the whole family of planar 1-DOF kinematic chains and creation of their atlas database. Mech Mach Theory 47(1):1–15CrossRef

23.

Ding HF, Zi B, Huang P, Kecskeméthy A (2013) The whole family of kinematic structures for planar 2-and 3-DOF fractionated kinematic chains. Mech Mach Theory 70(12):74–90CrossRef

24.

Yan HS, Hsu CH (1988) Contracted graphs of kinematic chains with multiple joints. Math Comput Model 10(9):681–695MathSciNetCrossRef

25.

Chu I, Cao W (1998) Systemics of Assur groups with multiple joints. Mech Mach Theory 33(8):1127–1133CrossRef

26.

Hsu CH (1992) Enumeration of basic kinematic chains with simple and multiple joints. J Franklin Inst 329(4):775–789CrossRef

27.

Ding H, Zhao J, Huang Z (2010) Unified structural synthesis of planar simple and multiple joint kinematic chains. Mech Mach Theory 45(4):555–568CrossRef

28.

Chu J, Zou Y (2014) An algorithm for structural synthesis of planar simple and multiple joint kinematic chains. Proc Inst Mech Eng Part C J Mech Eng Sci 228(12):2178–2192

29.

Ermoshina E, Pozhbelko V (2017) Structural synthesis, mobility analysis and creation of complete atlas of multiloop planar multiple-jointed kinematic chains on base all possible sets of color multiple joints for industrial applications. In: Wenger P, Flores P (eds) New trends in mechanism and machine science–Theory and industrial applications. Mechanism and machine science, vol 43. Springer, pp 375–382

30.

Pozhbelko V, Ermoshina E (2015) Number structural synthesis and enumeration process of all possible sets of multiple joints for 1-DOF up to 5-loop 12-link mechanisms on base of new mobility equation. Mech Mach Theory 90(8):108–127CrossRef

31.

Pozhbelko V (2016) A unified structure theory of multibody open, closed loop and mixed mechanical systems with simple and multiple joint kinematic chains. Mech Mach Theory 100(6):1–16CrossRef

Titel: Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms
verfasst von: Vladimir Pozhbelko
Ekaterina Kuts
Verlag: Springer International Publishing
Buch: Mechanism, Machine, Robotics and Mechatronics Sciences
Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-319-89911-4_14

Premium Partner

Marktübersichten

Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.

Zur Marktübersicht