Structural Synthesis Of Mechanically Constrained Single Loop 6-Bar Chain From Double 3r Chain

摘要

In the presence work, graphical enumeration technique is applied for structural synthesis mechanically constrained planar parallel robot formed by single loop 6-bar chain or two 3R chains. Two RR chains are added to the considered system to mechanically constraint the movement of its end-effector. Structural code has been proposed as a new systematic methodology to detect isomorphic graphs. Therefore, 32 non-isomorphic graphs are obtained from this enumeration process. All theses graphs represent one-degree-of freedom eight-bar mechanisms. Reverse transformation process is presented to obtain the corresponding linkage diagrams for all results.