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Published in:
2017 | OriginalPaper | Chapter
Two-Degree-of-Freedom Mechanisms Design Based on Parasitic Motion Maximization
Authors : Zhenyang Zhuo, Yunjiang Lou, Bin Liao, Mingliang Wang
Published in: Intelligent Robotics and Applications
Publisher: Springer International Publishing
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Abstract
Parasitic motion is widely considered as an important generic property of mechanisms, which is always believed as a drawback of lower mobility parallel mechanisms. Many researchers have tried to remove or reduce the parasitic motion by optimization or designing new structural layouts. However, in some applications, the parasitic motion can enable lower degree-of-freedom (DoF) mechanisms to complete a higher DoF motion task. In this paper, a new method is proposed to utilize the parasitic motion. By the example of a five-bar mechanism and a two-link mechanism, the optimization method is used to maximize the parasitic motion so that the mechanisms can manipulate objects with a large orientation range. This optimization based mechanism design concept will lead to lower cost, lower complexity of kinematics and control.