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CSME 2019/10
Volume 40 No.5
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449-459
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Type Synthesis of Five Degree-of-Freedom Hybrid Mechanism
Shuyi Gea, Yi Caob, Kai Liua and Rui Dinga
aSchool of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China.
bSchool of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China. / Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi, 214122, China.
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Abstract:
With the introduction of fractal theory and topological graph, this paper deals with the type synthesis and kinematic analysis of closed-loop 5-DoF (five degree-of-freedom) HMs (hybrid mechanisms). Firstly, the concept of fractal theory and topological graph are introduced. Then, theoretical grounds which consist of motional feature and algorithm for the type synthesis of HMs are presented in detail. The motional feature is composed of route, branch and kinematic pairs represented by a 8-bit binary string, while the algorithm is composed of route rule for dealing with the topological graph and calculation rule of union-intersection-preserving. Meanwhile, a mathematic model for both fractal and HMs is developed considering the interaction and correlation between them. Furthermore, the concrete procedure of type synthesis of 5-DoF HMs can be structured base on a selected topological graph and a flowchart is recommended in detail. Finally, the analysis of the motional characteristic for the end-effector is proposed and applied to an example chosen from type synthesis to demonstrate the validity of the methodology in this paper.
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Keywords: hybrid mechanism, type synthesis, fractal theory, topological graph.
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*Corresponding author; e-mail:
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©
2019
CSME , ISSN 0257-9731
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