The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of...The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of hybrid kinematic mechanisms( HKMs). This paper presents a very simple yet very effective method of structural synthesis for HKM based on the set theory. The basic concept and mathematical operation of Generalized Function Set( G_F set) are firstly introduced. Based on G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and HKMs is presented,respectively. Especially,a detailed algorithm of type synthesis for HKM is proposed as well. It is shown that type synthesis of HKM can be developed by the combination of elements of G_F setand rotation axis transfer theorem. In order to demonstrate the applicability of the type synthesis principle presented in the paper,structure synthesis of 2T3 R HKMs are accomplished,where T and R denote translational and rotational degree-of-freedom( DoF),respectively. And further research shows that the structures of 2T3 R HKMs can be categorized into two types,i. e.,G(_F~Ⅰ) and G(_F~Ⅱ).展开更多
基金National Natural Science Foundations of China(Nos.50905075,51505190)the Six Talent Peaks Project in Jiangsu Province,China(No.ZBZZ-012)+2 种基金the Open Project of the State Key Laboratory of Robotics and System of China(No.SKLRS-2016-KF-06)the Open Project of the Key Laboratory of System Control and Information Processing,China(No.Scip201506)the Research and the Innovation Project for College Graduates of Jiangsu Province,China(No.SJZZ16-0212)
文摘The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of hybrid kinematic mechanisms( HKMs). This paper presents a very simple yet very effective method of structural synthesis for HKM based on the set theory. The basic concept and mathematical operation of Generalized Function Set( G_F set) are firstly introduced. Based on G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and HKMs is presented,respectively. Especially,a detailed algorithm of type synthesis for HKM is proposed as well. It is shown that type synthesis of HKM can be developed by the combination of elements of G_F setand rotation axis transfer theorem. In order to demonstrate the applicability of the type synthesis principle presented in the paper,structure synthesis of 2T3 R HKMs are accomplished,where T and R denote translational and rotational degree-of-freedom( DoF),respectively. And further research shows that the structures of 2T3 R HKMs can be categorized into two types,i. e.,G(_F~Ⅰ) and G(_F~Ⅱ).
