Author : Hasan Eleashy
CoAuthors : M.Samy Elgayyar, M.N. Shabara
Source : International Journal of Mechanical and Production Engineering Research and Development (IJMPERD) ISSN: 2249 – 6890
Date of Publication : 01/2012
Abstract :
In the present work, graphical enumeration technique is
applied for structural synthesis of 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 these
graphs represent one-degree-of freedom eight-bar
mechanisms. Reverse transformation process is presented
to obtain the corresponding linkage diagrams for all
results.
Download PDF