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Derivation of contracted graphs with ternary/quaternary links for type synthesis of parallel mechanisms by characteristic strings

Published online by Cambridge University Press:  05 March 2014

Yi Lu ,
Ying Wang ,
Yang Lu  and
Nijia Ye
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Ying Wang
Affiliation:
College of Mechanical Engineering, Hebei United University, Tangshan, Hebei, PR China
Yang Lu
Affiliation:
Harbin Electric Corporation (QHD), Heavy Equipment Company Limited, Qinhuangdao, Hebei 066206, P. R. China
Nijia Ye
Affiliation:
Harbin Electric Corporation (QHD), Heavy Equipment Company Limited, Qinhuangdao, Hebei 066206, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

This paper focuses on the derivation of valid contracted graphs (CGs) with ternary links T and quaternary links Q using characteristic strings for type synthesis of parallel mechanisms. First, some concepts on the associated linkage, the CGs, and characteristic strings are explained, and the numbers of vertices and edges for constructing CGs with T and Q are solved. Second, the relative criteria are determined for representing CGs with T and Q and identifying their isomorphism using characteristic strings. Third, some simple CGs with T and Q are represented by the characteristic strings and their isomorphic/invalid CGs are identified. Finally, many complex, valid CGs with T and Q are derived by characteristic strings.

Keywords

Parallel mechanismType synthesisContracted graphCharacteristic string
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 548 - 562
Copyright
Copyright © Cambridge University Press 2014 

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