Topological Characteristics Analysis for a Family of Novel SCARA Parallel Mechanisms
The 4-dof parallel mechanisms (PMs) which can achieve SCARA motion have broad industrial applications.However,studies on the 4-dof PMs are less than that of three-translation PMs or three-rotation PMs.At the same time,not enough attention has been paid to topological structures analysis which can give important basis on type selection and performance evaluation of PMs.According to the topological design theory and method for PMs based on position and orientation characteristic (POC) and the ordered single-open-chain (SOC),this paper gives a total topological structure analysis on seven typical SCARA PMs proposed by the authors.Five major topological features of PMs are revealed,which are POC set,the degree of the freedom (including the selection of drive pair),over-constraint degree,coupling degree and the input-output motion decoupling.This paper provides a theoretical basis for the kinematics analysis,design and applications for these new SCARA PMs.
Parallel mechanism POC Topological structure analysis Coupling degree Topological structure characteristics Type synthesis
Qingfei Zeng Huiping Shen Hengcun Qiang TingLi Yang
Research Center for Advanced Mechanism Theory, Changzhou University,213016 Changzhou, People’s Republic of China
国际会议
广州
英文
131-142
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）