Parallel tracking mechanism with varied axes has great potential in actuating antenna to track moving targets. Due to varied rotational axes, its finite motions have not been modeled algebraically. This makes its type synthesis remain a great challenge. Considering these issues, this paper proposes a conformal geometric algebra (CGA) based approach to model its finite motions in an algebraic manner and parametrically generate topological structures of available open-loop limbs. Finite motions of rigid body, articulated joints, and open-loop limbs are formulated by outer product of CGA. Then, finite motions of parallel tracking mechanism with varied axes are modeled algebraically by two independent rotations and four dependent motions with the assistance of kinematic analysis. Afterward, available four degrees-of-freedom (4-DoF) open-loop limbs are generated by using revolute joints to realize dependent motions, and available five degrees-of-freedom (5-DoF) open-loop limbs are obtained by adding one finite rotation to the generated open-loop limbs. Finally, assembly principles in terms of minimal number and combinations of available open-loop limbs are defined. Typical topological structures are synthesized and illustrated.
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October 2017
Technical Briefs
Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically
Yang Qi,
Yang Qi
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
Search for other works by this author on:
Tao Sun,
Tao Sun
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
e-mail: stao@tju.edu.cn
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
e-mail: stao@tju.edu.cn
Search for other works by this author on:
Yimin Song
Yimin Song
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
Search for other works by this author on:
Yang Qi
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
Tao Sun
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
e-mail: stao@tju.edu.cn
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
e-mail: stao@tju.edu.cn
Yimin Song
Key Laboratory of Mechanism Theory
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
and Equipment Design,
Ministry of Education,
Tianjin University,
Tianjin 300350, China
1Corresponding author.
Manuscript received March 7, 2017; final manuscript received July 24, 2017; published online August 21, 2017. Assoc. Editor: Raffaele Di Gregorio.
J. Mechanisms Robotics. Oct 2017, 9(5): 054504 (6 pages)
Published Online: August 21, 2017
Article history
Received:
March 7, 2017
Revised:
July 24, 2017
Citation
Qi, Y., Sun, T., and Song, Y. (August 21, 2017). "Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically." ASME. J. Mechanisms Robotics. October 2017; 9(5): 054504. https://doi.org/10.1115/1.4037548
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