首页|A Coordinate-Free Approach to the Design of Generalized Griffis-Duffy Platforms

A Coordinate-Free Approach to the Design of Generalized Griffis-Duffy Platforms

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Architectural singularity belongs to the Type Ⅱ singularity,in which a parallel manipulator(PM)gains one or more degrees of freedom and becomes uncontrollable.PMs remaining permanently in a singularity are beneficial for linear-to-rotary motion conversion.Griffis-Duffy(GD)platform is a mobile structure admitting a Bricard motion.In this paper,we present a coordinate-free approach to the design of generalized GD platforms,which consists in determining the shape and attachment of both the moving platform and the fixed base.The generalized GD platform is treated as a combination of six coaxial single-loop mechanisms under the same constraints.Owing to the inversion,hid-den in the geometric structure of these single-loop mechanisms,the mapping from a line to a circle establishes the geometric transformation between the fixed base and the moving platform based on the center of inver-sion,and describes the shape and attachment of the generalized GD platform.Moreover,the center of inversion not only identifies the location of rotation axis,but also affects the shape of the platform mechanism.A graphical construction of generalized GD platforms using inversion,proposed in the paper,provides geometrically feasible solu-tions of the manipulator design for the requirement of the location of rotation axis.

Generalized Griffis-Duffy platformsSelf-motionInversionCoordinate-free determinationManipulator design

Chengwei Shen、Xu Pei、Lubin Hang、Jingjun Yu

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College of Optical,Mechanical and Electrical Engineering,Zhejiang A&F University,Hangzhou 311300,China

School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China

School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaPersonnel Startup Project of Zhejiang A&F University Scientific Research Development Foundation of China

U1813221520750152024LFR015

2024

10.1186/s10033-024-01032-6

中国机械工程学报
中国机械工程学会

中国机械工程学报

CSTPCD
影响因子：0.765
ISSN：1000-9345
年,卷(期)：2024.37(3)