Some planar redundantly closed mechanisms (RCMs) have better dexterity, less singular configuration, and higher stiffness. In this paper, the derivation of valid topology graphs (TGs) of some planar four degrees of freedom (4DOF) RCMs is studied based on the contracted graph (CG), arrays, and topology graph with digits (DTG). First, some CGs without any binary links are constructed for the planar 4DOF RCMs, some curves with only binary links are distributed over CGs, and some valid TGs of the planar 4DOF RCMs are derived. Second, a complicated derivation of TG is transformed into an easy derivation of array and DTG, and some programs are compiled in VISUAL BASIC; all valid arrays corresponding to nonisomorphic TGs are derived, and some invalid arrays corresponding to the isomorphic TGs and invalid TGs are determined and removed by the compiled programs. Third, many valid TGs of the planar 4DOF RCMs with various basic links are derived from valid arrays and DTGs. Finally, some application examples are illustrated.
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August 2010
Research Papers
Derivation of Topological Graphs of Some Planar 4DOF Redundant Closed Mechanisms by Contracted Graphs and Arrays
Yi Lu,
Yi Lu
College of Mechanical Engineering,
e-mail: luyi@ysu.edu.cn
Yanshan University
, Qinhuangdao, Hebei 066004, P.R. China
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Ling Ding,
Ling Ding
College of Information Science and Engineering,
e-mail: dl197139@yahoo.com.cn
Yanshan University
, Hebei 066004, P.R. China
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Shuyan Li,
e-mail: lishuyan@ceri.com.cn
Shuyan Li
CERI Yingkou Equipment Development and Manufacturing Co., Ltd.
, Yingkou, Liaoning 115004, P.R. China
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Jianping Yu
Jianping Yu
Search for other works by this author on:
Yi Lu
College of Mechanical Engineering,
Yanshan University
, Qinhuangdao, Hebei 066004, P.R. Chinae-mail: luyi@ysu.edu.cn
Ling Ding
College of Information Science and Engineering,
Yanshan University
, Hebei 066004, P.R. Chinae-mail: dl197139@yahoo.com.cn
Shuyan Li
CERI Yingkou Equipment Development and Manufacturing Co., Ltd.
, Yingkou, Liaoning 115004, P.R. Chinae-mail: lishuyan@ceri.com.cn
Jianping Yu
J. Mechanisms Robotics. Aug 2010, 2(3): 031011 (9 pages)
Published Online: July 23, 2010
Article history
Received:
April 19, 2009
Revised:
February 3, 2010
Online:
July 23, 2010
Published:
July 23, 2010
Citation
Lu, Y., Ding, L., Li, S., and Yu, J. (July 23, 2010). "Derivation of Topological Graphs of Some Planar 4DOF Redundant Closed Mechanisms by Contracted Graphs and Arrays." ASME. J. Mechanisms Robotics. August 2010; 2(3): 031011. https://doi.org/10.1115/1.4001735
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