Yingkou Equipment Development and Manufacturing Co.

Liaoning, China

Yingkou Equipment Development and Manufacturing Co.

Liaoning, China

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Lu Y.,Yanshan University | Lu Y.,Yingkou Equipment Development and Manufacturing Co. | Ding L.,Yanshan University | Ye N.,Yingkou Equipment Development and Manufacturing Co.
Robotica | Year: 2012

A computational derivation of valid kinematic limbs for spatial 3-DOF parallel mechanisms (PMs) without redundant constraint is studied based on contracted graphs, topological graphs, and basic joints. First, some contracted graphs without any binary links are constructed, some curves with only binary links are distributed over contracted graphs and many valid topological graphs are derived. Second, a software is developed in Visual Basic for deriving the kinematic limb, and some basic chain structures are constructed by connecting various basic joints in series. Third, all valid kinematic limbs of the 3-DOF PMs without redundant constraint are derived computationally from the basic chain structures and some novel 3-DOF PMs are synthesized using this approach. Finally, the number of the different 3-DOF PMs without redundant constraint are determined based on the topological graphs and valid chain structures of the limb. © 2011 Cambridge University Press.


Lu Y.,Yanshan University | Lu Y.,Yingkou Equipment Development and Manufacturing Co. | Ye N.,Yingkou Equipment Development and Manufacturing Co. | Yuan L.,Yanshan University
Modelling and Simulation in Engineering | Year: 2012

This paper proposes a (computer aided design) CAD variational geometry approach for the high-order dimension synthesis of one-DoF mechanisms based on the given velocity/acceleration of a moving platform along a prescribed trajectory. The objective of this approach is to determine the reasonable dimensions of the mechanisms when given the velocity or/and the acceleration of the moving platform along a prescribed trajectory. First, some concepts and mathematical foundations are explained for constructing the velocity/ acceleration simulation mechanism of a general mechanism. Second, the inverse velocity/acceleration simulation mechanisms of the planar/spatial four-bar mechanisms with one-DoF are constructed by the CAD variational geometry. Third, when given the position and the velocity/acceleration of the coupler along a prescribed trajectory, all the reasonable dimensions of the planar/spatial four-bar mechanisms are solved from their simulation mechanisms. © 2012 Yi Lu et al.

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