Type Synthesis of Fully-isotropic 2T3R 5-DoF Hybrid Mechanisms
Hong Zhang a, Hui Zhou a, Youlei Qin a, Shuyi Ge a, Kun Wang a and Yi Cao b
aSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, China / Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi, 214122, China
bSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, China / State Key Laboratory of Mechanical System and Vibration, Shanghai, 200240, China / State Key Laboratory of Robotics and System, Harbin, 150080, China / Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi, 214122, China
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Abstract:
In mechanical design, it is necessary to synthesize the mechanism，especially for the fully-isotropic hybrid mechanisms (HMs). This article proposes a simple but very effective approach for fully-isotropic HMs by means of GF set theory. firstly, a type synthesis method for HMs is simply presented, especially, the option standard of the input motion joint and the steps for the integration of the branches are given which provide the theoretical foundations for the integration of the type structure of completely isotropic HMs. Secondly, the process of type synthesis for fully-isotropic HMs is described in detail. To corroborate the usefulness of the proposed method for fully-isotropic HMs, type synthesis of fully-isotropic 2T3R 5-Degree-0f-Freedom (DoF) HMs is illustrated with example, where T denotes translation and R denotes rotation. Finally, the forward displacement analysis of a synthesized 2T3R fully-isotropic HM is carried out. The expression of the Jacobian matrix is deduced, it shows that the Jacobian matrix of the synthesized fully-isotropic HM is a 5×5 identity matrix throughout the entire workspace validating the fully-isotropic feature of the HM and the effectiveness of the type of composite approach for fully-isotropic HMs.
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