Basic problems and criteria for synthesis of robotics

摘要

With outstanding advantages, parallel mechanisms attracted decent amount of interest and obtained remarkable development. Type synthesis is one of the most challenging topics in parallel robots field. On the basis of investigation and analysis on current several distinctive approaches, this paper proposes basic problems which should be solved by a complete and valid type synthesis approach and the research frame of type synthesis of parallel robotics. Also, this paper proposes the general function (GF) sets as performance criteria to evaluate characteristics of end-effectors and to classify mechanisms. According to completeness of rotation characteristics, the GF sets are categorised into three classes: seven kinds of the first class of GF sets, 31 kinds of the second class of GF sets, five kinds of the third class of GF sets. The basic frame and three classes of GF sets would have important scientific significance to systematically setup type synthesis approaches.