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A Method for Structure Coupling-reducing of Parallel Mechanisms

  • Conference paper
Intelligent Robotics and Applications

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9246))

Abstract

Structure coupling degree is used to describe the topological structure complexity of a mechanism. While structure coupling-reducing can reduces such complexity. But the topic is little being studied so far. This paper studies the principle, design method and application of the structure coupling-reducing of the mechanisms. Firstly, a novel concept is proposed which defines the structure coupling-reducing (SCR). The differences and relations of the structure coupling-reducing (SCR) and motion decoupling (MD) are also revealed. Then a SCR method is proposed, which requires to change the position and orientation characteristics chain into a driving chain and meanwhile remove one unconstrained driving chain. At last, two SCR examples are illustrated, which offers good application potential. The SCR principle and SCR method can be applied to all spatial mechanisms. They are of great significance in topological structure optimization, kinematics solution, real-time control.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Changzhou University, Changzhou, 213164, China

    Huiping Shen, Liangjie Yang, Xiaorong Zhu, Ju Li & Hongbo Yin

Authors
  1. Huiping Shen
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  2. Liangjie Yang
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  3. Xiaorong Zhu
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  4. Ju Li
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  5. Hongbo Yin
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Corresponding author

Correspondence to Huiping Shen .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, UK

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

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© 2015 Springer International Publishing Switzerland

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Shen, H., Yang, L., Zhu, X., Li, J., Yin, H. (2015). A Method for Structure Coupling-reducing of Parallel Mechanisms. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R. (eds) Intelligent Robotics and Applications. Lecture Notes in Computer Science(), vol 9246. Springer, Cham. https://doi.org/10.1007/978-3-319-22873-0_18

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  • DOI: https://doi.org/10.1007/978-3-319-22873-0_18

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22872-3

  • Online ISBN: 978-3-319-22873-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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