Yi Cao, Hui Zhou, Youlei Qin, Kai Liu, Weixi Ji, and Hong Zhang
Hybrid mechanism, type synthesis, type analysis, number synthesis,GF set
Type synthesis and type analysis for robotic mechanisms (abbrevi- ated as RMs) are the most original and the most inventive issues in the process of mechanical design. Hence, extensive attention should be paid to the type synthesis and type analysis for RMs, particularly in the field of hybrid mechanisms (HMs for short). A simple yet valid method for the type synthesis and type analysis of HMs by means of set theory was proposed in this article. Firstly, theoretical grounds which were made up of the definition, algorithms of gen- eralized function set (GF set for short) and 3-dimensional (3-D for short) rotation law were briefly described. Then, a type synthesis method for RMS including serial mechanisms (abbreviated as SMs), parallel mechanisms (abbreviated as PMs) and HMs was individu- ally put forward. Furthermore, a type synthesis procedure of HMs was recommended. The type synthesis procedure was applied to the synthesis of five-degree-of-freedom HMs with three translations and two rotations (3T2R) to testify its validity. Finally, a type analysis method for HMs was introduced and a kinematic feature analysis of one synthesized 3T2R HM was illustrated with example to testify its validity as well.
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