Parallel robot mechanisms have been and are being used in a wide variety of applications such as motion simulators, high speed manipulation, machine tools and even nano-manipulators. Parallel robot mechanisms are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads.
Researches on parallel robots can be divided into kinematics, dynamics and control, the most fundamental and important being the structural synthesis of parallel robot mechanisms in kinematics. Of many mechanisms that may be made by spatial combination of links and joints, finding a configuration of mechanisms with appropriate performances for applying to a necessary object as a parallel robot mechanism makes us understand the complexity and difficulty of the problems for the structural synthesis of parallel robot mechanisms. Here, quick calculation of correct degree of freedom is the basic requirement for the structural synthesis of parallel robot mechanisms.
Kim Yong Ho, a researcher at the Faculty of Mechanical Science and Technology, has proposed a new method of deriving information on mechanism’s degree of freedom by automatic generation of velocity constraint equations on computer without using any special analytical tools.
Under the condition that the endpoints of open kinematic chains－the legs of parallel robot mechanisms－are connected to one link, he automatically generated the symbolical velocity constraint equations to calculate the degree of freedom of parallel robot mechanisms by using the rank. The proposed method was applied to CPM mechanism, Bennett mechanism and Bricard mechanism. The results showed that the proposed method is correct, useful and prospective.
© 2021 KumChaek University of Technology