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Ting-Li Yang · Anxin Liu
Huiping Shen · Lubin Hang
Yufeng Luo · Qiong Jin

Topology Design
of Robot
Mechanisms
Topology Design of Robot Mechanisms
Ting-Li Yang Anxin Liu
•

Huiping Shen Lubin Hang

•

Yufeng Luo Qiong Jin

•

Topology Design of Robot

Mechanisms

123
Ting-Li Yang Lubin Hang
Changzhou University Shanghai University of Engineering Science
Changzhou Shanghai
China China

Anxin Liu Yufeng Luo

Nanhang Jincheng College East China Jiaotong University
Nanjing Nanchang
China China

Huiping Shen Qiong Jin

Changzhou University The Boeing Company
Changzhou California
China USA

ISBN 978-981-10-5531-7 ISBN 978-981-10-5532-4 (eBook)

https://doi.org/10.1007/978-981-10-5532-4
Library of Congress Control Number: 2017951419

© Springer Nature Singapore Pte Ltd. 2018

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Preface

Robot mechanisms, especially parallel robot mechanisms, have raised great interest
among many mechanism researchers during the last two decades. Compared with
traditional serial mechanisms, parallel robot mechanisms offer many advantages,
such as high accuracy, rigidity, load-to-weight ratio, etc. Early research of parallel
robot mechanisms was focused mainly on the six-DOF Gough–Stewart platform. In
the last decade, parallel mechanisms with fewer DOFs attracted the attention of
researchers and gradually became popular in many fields.
There are two principal goals in researching mechanism topology: One is to
provide systematic theories and methods, which eventually guide the topology
design of robot mechanisms. The other is to establish new composition principles of
mechanisms, based upon which a unified modeling of topology, kinematics, and
dynamics of mechanisms can be achieved.
This book introduces the creative research achievements of the authors on
mechanism topology over the past more than thirty years. The essential points can
be concentrated as follows:
(1) Three fundamental concepts
(a) Geometrical Constraint Type of axes (see Chap. 2).
The subject concept describes the geometrical constraints among axes of
kinematic pairs. The geometrical constraint type of axes, together with the
kinematic pair type, and the connection relations among links are three
basic elements of topological structures. It should be emphasized that the
symbolic expression of a topological structure constructed in this manner is
independent of the motion positions of a parallel mechanism (excluding
singular positions).
(b) POC Set (see Chap. 3)
The POC set, derived from the unit vector set of the velocity of a link, the
POC set describes the position and orientation characteristics of the relative
motions between any two links of a mechanism. It depends only on the
topological structure of the mechanism and is independent of the motion
positions of the mechanism (excluding singular positions).

v
vi Preface

(c) SOC Unit (see Chap. 2)

The SOC unit is used as the basic structure unit to develop four basic
equations of mechanism topology (see Chaps. 4–6).
(2) Mechanism composition principle based on SOC units
The mechanism composition principle based on SOC units is proposed to
establish the systematic theory for unified modeling of topology, kinematics,
and dynamics of mechanisms (see Chap. 7).
(3) Four basic equations
The equations listed in the following Paragraphs (a) through (c) reveal the
mapping relationship among the topological structure, the DOF and the POC
set of a mechanism. The equation addressed in the following Paragraph
(d) provides the theoretical cornerstone for building up a systematic theory and
method for topology, kinematics, and dynamics of mechanisms based on the
SOC-unit modeling.
(a) POC Equation of Serial Mechanisms (see Chap. 4)
This equation is used for topological structure analysis and synthesis of
serial mechanisms. Eight linear symbolic operation rules and two nonlinear
criteria are created to support this equation.
(b) POC Equation of Parallel Mechanisms (see Chap. 5)
This equation is used for topological structure analysis and topology design
of parallel mechanisms. Twelve linear symbolic operation rules and two
nonlinear criteria are provided for this equation.
(c) The General DOF Formula (see Chap. 6)
This is the formula to calculate the DOF of parallel mechanisms and
multi-loop spatial mechanisms.
(d) The Coupling Degree Formula for AKC (see Chap. 7)
This is the formula to calculate the coupling degree of the Assur kinematic
chain (AKC). The coupling degree represents the complexity of kinematic
and dynamic analyses of the AKC.
The above four equations (formulas) depend only on the topological structures
of a mechanism and are independent of motion positions of the mechanism
(excluding singular positions). It is not necessary to establish a fixed coordinate
system when using these four equations.
(4) One systematic method for topology design of parallel mechanisms (see
Chaps. 8–10)
Based on the three fundamental concepts, the mechanism composition principle
based on SOC units, and the four basic equations mentioned in Paragraphs (1),
(2), and (3). The systematic topology design of parallel mechanisms, developed
from the essential points (1), (2), and (3) mentioned above, possesses the
following characteristics:
(a) The design has two stages: Stage 1 synthesizes structures obtaining many
kinds of parallel mechanisms; Stage 2 analyzes the performances, classifies
types, and subsequently optimizes the parallel mechanisms synthesized
from Stage 1.
Preface vii

(b) The design operation is independent of the motion positions of a mecha-

nism (excluding singular positions) and the fixed coordinate system (i.e. it
is not necessary to establish the fixed coordinate system); therefore it is a
geometrical method. This ensures a full-cycle DOF of the parallel mech-
anism and the generality of geometric conditions of assembling branches
between the two platforms.
(c) Each individual design step follows an explicit formula or the guidelines of
design criteria, making the operation simple and feasible.
It may be beneficial to outline the following chronological milestones of our
researches.
A. 1983–1986: A general method for structural synthesis of overconstrained spatial
single-loop mechanisms was provided, based on which new structure types were
synthesized (Ref. [2] in Chap. 1, and Ref. [9] in Chap. 2). The geometrical
constraint type of axes (the type of geometrical constraint on axes of adjacent
kinematic pairs, which was originally called the dimensional constraint type) was
introduced as the third key element to describe the topological structure of a
mechanism. The other two key elements are: the kinematic pair and the connection
relation between links. The mapping relationship between the number of inde-
pendent displacement equations and the topological structure of overconstrained
spatial single-loop mechanisms was revealed based on these three key elements.
B. 1985–1996: The composition principle based on the SOC units for planar
mechanisms was proposed. An SOC-based structure synthesis method for planar
mechanisms was presented, and the corresponding structural types were obtained
(Ref. [59] in Chap. 1). The key points are as follows: (a) the SOC-based structure
unit, (b) the constraint degree formula for a planar SOC, and (c) the coupling
degree formula for the planar AKC. These three points were later used to form the
systematic theory and method for unified modeling of topology, kinematics, and
dynamics of planar mechanisms (Ref. [59, 61, 62, 65, 69] in Chap. 1). This theory
and method was described in detail in the first author’s monograph, which was
written in Chinese, “Basic Theory of Planar Mechanisms: Structure, Kinematics
and Dynamics,” China machine press, Beijing, 1996 (Ref. [61] in Chap. 1). It is
well-known and frequently cited by Chinese scholars.
C. 1995–2005: An SOC-based structure synthesis method for parallel mechanisms
was given, and structural types with DOF=2–6 were derived (Ref. [3, 27, 28–
30, 31, 32, 33–37 ] in Chap. 1). The innovations of this phase are as follows:
(1) It was discovered that the topological structures constructed by the three
basic elements mentioned in the Milestone (A) is motion process invariant
(excluding singular positions).
(2) The POC set, originally named “POC Matrix” and derived from the unitary
vector set of the link velocity, depicts the relative movement characteristics
of any two links. It is independent of the motion positions (excluding
singular positions) and the fixed coordinate system.
viii Preface

(3) The POC equation for a serial mechanism and its operation rules are
independent of the motion positions and the fixed coordinate system.
(4) The POC equation for a parallel mechanism and its operation rules are
independent of the motion positions and the fixed coordinate system.
Published in 2004, our Chinese renowned treatise, “Theory of Topological
Structure for Robot Mechanisms” China machine press, Beijing (Ref. [32] in
Chap. 1), describes the systematic theory and application of the structural
synthesis of parallel mechanisms. This is the first academic book in the world
on structural synthesis of parallel mechanisms.
D. 2006–2016: The innovations during this period are as follows:
(1) A general DOF formula for parallel mechanisms and arbitrary spatial multi-
loop mechanisms was gradually established (Refs. [40-42] in Chap. 1). The
creative points are: (a) a full-cycle DOF obtained, (b) a criterion to deter-
mine inactive kinematic pairs, (c) a criterion to determine driving pairs, and
(d) a simplified method, based on the topological equivalent principle, to
calculate the DOF of a mechanism.
(2) Using this general DOF formula for spatial mechanisms, the composition
principle based on SOC units was able to be extended to general spatial
mechanisms. The constraint degree formula for a spatial SOC and the cou-
pling degree formula for the spatial AKC are presented (Ref. [43] in Chap. 1).
(3) A general method for topology design of PMs is proposed. The design
process includes two stages: (a) Structure synthesis. Many structure types
are obtained. (b) Performance analysis, classification and optimization of
PM structure types (refer to Chaps. 9–10).
(4) It provides a theoretical basis for establishment of a unified SOC-based
method for structure synthesis and kinematic (dynamic) analysis of general
spatial mechanisms (Ref. [43] in Chap. 1).
E. 2013: The paper “On the Correctness and Strictness of the POC Equation for
Topological Structure Design of Robot Mechanisms” was published in JMR
(Ref. [39, 38] in Chap. 1) to answer the questions or doubts of some researchers
on our theory: (a) Is this theory correct or rigorous? and (b) Can this theory be
used to solve any topology design problems which cannot be solved by other
existing methods?
In conclusion, the five milestones summarized above are foundations of the sys-
tematic theory and methodology demonstrated in this book.
Provided below is a brief of the idea of my research on the theory mentioned
above.
In 1959, when I was a junior at Qinghua University (Beijing) studying the course
“Theory of Machines,” I had quite a few doubts about the DOF formula for spatial
mechanisms. Meanwhile, I was deeply interested in the Assur structure theory. In
this respect, my long-term research on the subject originated from the doubts and
curiosity of mine at that time. However, I was not able to concentrate my research
on the subject until the Ten-year Catastrophe (1966–1976) which is also known as
Preface ix

the Cultural Revolution was over. If my research is officially counted from my

presenting the first research paper on the subject at the sixth IFToMM world
congress on the theory of machines and mechanisms held in New Deli in 1983, it
has been thirty-five years—never a short term in anyone’s life!
Introduction of the three new concepts based on non-logical thinking enables the
theory to clearly depict its physical significance, and the four basic formulas derived
from logical reasoning give the theory a precise mathematical structure. As a result,
the theory well demonstrates the beauty of simplicity—a perfect reflection of the
Daoist philosophy “Greatest truths are always the simplest.”
As the beauty of simplicity in theories, the trueness of emotion, and the rich
colorfulness of the Mother Nature are closely linked, appreciation and understanding
of and resonance to such beauties further stimulate new instinct and inspiration.
In addition, adoration of the spirit of independence and freedom of thought,
extensive reading with reflection, emotion and sense in making friends, and
thinking of the light or darkness in the social development enable people to have a
broader vision and promote in-depth thinking. The passion and aesthetic feeling
generated from life have become a pillar of spirit in my long-lasting concentrated
academic study.
As the lead author, I am deeply grateful for the invaluable encouragement and
help from Prof. Shi-Xian Bai (Beijing Polytechnic University), Prof. Wei-Qing Cao
(Xi’an University of Technology), Prof. Qi-Xian Zhang (Beijing university of
Aeronautics and Astronautics), and Prof. Xi-Kai Huang (Southeast University,
Nanjing).
I would also like to express my sincere thanks to Prof. Ming Zhang, Prof. Meiyu
Lin, Senior Engr. Zhen Xu, Engr. Dongjin Sun, Engr. Fanghua Yao, and other
friends. The broad communication with these people, which often shines lights on
me resulting in new trains of thoughts, has been a spiritual pleasure indeed in my
entire research career.
Great thanks also go to Dr. Yufeng Luo, Dr. Anxin Liu, Dr. Huiping Shen, Dr.
Qiong Jin, Dr. Lubin Hang, Dr. Xianwen Kong, Dr. Zhixin Shi, Prof. Jinkui Chu,
Prof. Chuanhe Liu, Prof. Zhiyou Feng, MSc. Huiliang Li, MSc. Jianqing Zhang,
MSc. Baoqian Shi, MSc. Songqin Shan and many other scholars for their contin-
uous contributions and assistances to me in the past three decades.
The authors would like to acknowledge the financial support of the National
Nature Science Foundation of China.
Finally, my special gratitude goes out to my wife Jingying Shao and other family
members. Without their full support during the past more than forty years, this book
would not have been possible.

Nanjing, China Ting-Li Yang

March 28, 2017
Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Robot Mechanism Topology . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Topological Structure Design of Mechanisms . . . . . . . . 1
1.1.2 Basic Tasks of Mechanism Topology . . . . . . . . . . . . . 1
1.1.3 Basic Mode of Mechanism Topology Design . . . . . . . . 2
1.1.4 Main Methods for Mechanism Topology Design . . . . . 2
1.1.5 Mechanism Composition Principles
and Mechanism Theory Systems . . . . . . . . . . . . . . . . . 4
1.2 Objectives and Originality of This Book . . . . . . . . . . . . . . . . . 5
1.2.1 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 Basic Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.3 Mechanism Composition Principle . . . . . . . . . . . . . . . 6
1.2.4 Basic Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.5 Topological Characteristics of Parallel Mechanisms . . . 7
1.2.6 Topology Design of Parallel Mechanisms . . . . . . . . . . 8
1.2.7 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.8 Mechanism Theory System Based on SOC Unit . . . . . 9
1.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2 Topological Structure of Mechanisms and Its Symbolic
Representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 15
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 15
2.1.1 Traditional Description of Mechanism Topological
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 15
2.1.2 Current Description of Mechanism Topological
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 16
2.1.3 Topology Structure Design of Mechanisms . . . . . . ... 16

xi
xii Contents

2.2 Three Key Elements of Mechanism Topological Structure . . . . . 16

2.2.1 Type of Kinematic Pairs . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 SOC Unit and Its Connection Relations . . . . . . . . . . . . 17
2.2.3 Geometric Constraint Type of Axes . . . . . . . . . . . . . . . 18
2.3 Symbolic Representation of Mechanism Topological
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3.1 Symbolic Representation of Multi-DOF Pair . . . . . . . . 19
2.3.2 Symbolic Representation of Topological Structure . . . . 19
2.3.3 Composition of an SOC . . . . . . . . . . . . . . . . . . . . . . . 21
2.4 Topological Structure Invariance . . . . . . . . . . . . . . . . . . . . . . . 21
2.5 Definition of Mechanism Topological Structure . . . . . . . . . . . . 22
2.6 Classification of Mechanisms Based on Topological
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... 22
2.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... 23
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... 24
3 Position and Orientation Characteristics Set . . . . . . . . . . . . . . . . . . 27
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 POC Sets of Kinematic Pairs . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.1 POC Set of a P Pair . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.2 POC Set of an R Pair . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.2.3 POC Set of an H Pair . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3 POC Set of a Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3.1 An Introductory Example . . . . . . . . . . . . . . . . . . . . . . 34
3.3.2 VC Set of a Mechanism . . . . . . . . . . . . . . . . . . . . . . . 36
3.3.3 POC Set of a Mechanism . . . . . . . . . . . . . . . . . . . . . . 38
3.4 Dimension of POC Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.5 Basic types of POC Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4 Position and Orientation Characteristics Equation for Serial
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............. 43
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . ............. 43
4.2 Velocity Analysis of Serial Mechanisms . . . . . ............. 44
4.3 VC Equation for Serial Mechanisms
and Its Operation Rules . . . . . . . . . . . . . . . . ............. 45
4.3.1 VC Equation for Serial Mechanisms . ............. 45
4.3.2 Operation Rules for VC Equation . . . ............. 46
4.4 POC Equation for Serial Mechanisms
and Its Operation Rules . . . . . . . . . . . . . . . . . ............. 48
4.4.1 POC Equation for Serial Mechanisms ............. 48
4.4.2 Operation Rules for POC Equation . . ............. 50
Contents xiii

4.5 Calculation of POC Set for Mechanisms . . . . . . ........... 52

4.5.1 Main Steps . . . . . . . . . . . . . . . . . . . . . . ........... 52
4.5.2 Examples . . . . . . . . . . . . . . . . . . . . . . . ........... 53
4.6 Number of Independent Displacement Equations
of Single-Loop Mechanisms . . . . . . . . . . . . . . . ........... 62
4.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........... 65
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........... 66
5 Position and Orientation Characteristics Equation for Parallel
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.2 VC Equation for Parallel Mechanisms and Its Operation Rules . . . 68
5.2.1 An Introductory Example . . . . . . . . . . . . . . . . . . . . . . 68
5.2.2 VC Equation for Parallel Mechanisms . . . . . . . . . . . . . 70
5.2.3 Operation Rules for VE Equation . . . . . . . . . . . . . . . . 72
5.3 POC Equation for Parallel Mechanisms and Its Operation
Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.3.1 POC Equation for Parallel Mechanisms . . . . . . . . . . . . 75
5.3.2 Operation Rules for POC Equation . . . . . . . . . . . . . . . 76
5.4 Basic Characteristics of Branches . . . . . . . . . . . . . . . . . . . . . . . 79
5.4.1 POC Set of Branches . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.4.2 SOC Branch and HSOC Branch . . . . . . . . . . . . . . . . . 79
5.4.3 Topological Equivalence Principle . . . . . . . . . . . . . . . . 81
5.5 Calculation of POC Set for Parallel Mechanisms . . . . . . . . . . . 82
5.5.1 Main Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.5.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6 General Formula of Degrees of Freedom for Spatial
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.1.1 DOF Formula Based on Screw Theory . . . . . . . . . . . . 95
6.1.2 DOF Formula Based on Linear Transformation . . . . . . 97
6.1.3 DOF Formula Based on Displacement
Subgroup/Submanifold . . . . . . . . . . . . . . . . . . . . . . . . 98
6.1.4 DOF Formula Based on POC Set . . . . . . . . . . . . . . . . 98
6.2 The General DOF Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.3 Applications of the General DOF Formula . . . . . . . . . . . . . . . . 100
6.3.1 Criteria for Determination of Inactive Pairs . . . . . . . . . 100
6.3.2 Criteria for Selection of Driving Pairs . . . . . . . . . . . . . 101
6.3.3 Number of Independent Displacement Equations . . . . . 101
6.3.4 Number of Overconstraints . . . . . . . . . . . . . . . . . . . . . 101
6.3.5 Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
xiv Contents

6.4 DOF Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

6.4.1 Main Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.4.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7 Mechanism Composition Principle Based on Single-Open-Chain
Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.1.1 Mechanism Composition Principle Based on AKC . . . . 123
7.1.2 Mechanism Composition Principle Based
on Link-Pair Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.1.3 Mechanism Composition Principle Based
on Loop Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.2 Mechanism Composition Principle Based on SOC Unit . . . . . . 128
7.2.1 Mechanism Composition Principle . . . . . . . . . . . . . . . 128
7.2.2 Constraint Degree of SOC . . . . . . . . . . . . . . . . . . . . . 129
7.3 Coupling Degree of AKC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.3.1 Structure Decomposition of AKC Based
on SOC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.3.2 Coupling Degree of AKC . . . . . . . . . . . . . . . . . . . . . . 131
7.3.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.4 The General Method for AKC Determination . . . . . . . . . . . . . . 136
7.4.1 Structure Decomposition of Mechanisms . . . . . . . . . . . 136
7.4.2 Criteria for AKC Determination . . . . . . . . . . . . . . . . . 136
7.4.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
7.5 Determination of DOF Type Based on AKC . . . . . . . . . . . . . . 144
7.5.1 Full DOF and Its Existence Condition . . . . . . . . . . . . . 144
7.5.2 Partial DOF and Its Existence Condition . . . . . . . . . . . 145
7.5.3 Separable DOF and Its Existence Condition . . . . . . . . . 145
7.6 Motion Decoupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7.6.1 Motion Decoupling of Parallel Mechanisms . . . . . . . . . 146
7.6.2 Motion Decoupling Based on Partial DOF . . . . . . . . . . 146
7.6.3 Motion Decoupling Based on Geometrical Conditions
of Assembling Branches . . . . . . . . . . . . . . . . . . . . . . . 147
7.7 Applications of the Composition Principle Based
on SOC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.7.1 Topological Structure Synthesis Method Based
on SOC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
7.7.2 Kinematic Analysis Method Based on SOC Unit . . . . . 150
7.7.3 Dynamic Analysis Method Based on SOC Unit . . . . . . 152
7.8 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Contents xv

8 General Method for Structure Synthesis of Serial Mechanisms . . . 157

8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
8.2 Method for Structure Synthesis of Serial Mechanisms . . . . . . . . 158
8.2.1 Basic Requirements of Structure Synthesis . . . . . . . . . . 158
8.2.2 General Procedure for Structure Synthesis of Serial
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
8.2.3 Main Steps of Structure Synthesis . . . . . . . . . . . . . . . . 158
8.2.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
8.3 Structure Types of Serial Mechanisms . . . . . . . . . . . . . . . . . . . 166
8.3.1 Structure Types Containing Only R Pairs
and P Pairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
8.3.2 Expansion of Structure Types . . . . . . . . . . . . . . . . . . . 169
8.4 Structure Synthesis of Single-Loop Mechanisms . . . . . . . . . . . . 169
8.4.1 Classification of Single-Loop Mechanisms . . . . . . . . . . 169
8.4.2 Structure Synthesis of Single-Loop Mechanisms . . . . . 169
8.4.3 Structure Types of Single-Loop Mechanisms . . . . . . . . 172
8.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
9 General Method for Topology Design of Parallel Mechanisms . . . . 177
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
9.1.1 Basic Mode of Mechanism Topology Design . . . . . . . . 177
9.1.2 Basic Requirements for Topology Design . . . . . . . . . . 177
9.1.3 Main Method for Topology Design of Parallel
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
9.2 General Procedure for Topology Design of Parallel
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
9.3 Structure Synthesis of Branches . . . . . . . . . . . . . . . . . . . . . . . . 181
9.3.1 Basic Requirements for Structure Synthesis
of Branches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
9.3.2 Structure Synthesis of SOC Branches . . . . . . . . . . . . . 181
9.3.3 Structure Synthesis of HSOC Branches . . . . . . . . . . . . 183
9.4 Branch Combination Schemes . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.4.1 Number of Branches . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.4.2 Branch Combination Schemes . . . . . . . . . . . . . . . . . . . 189
9.5 Branch Assembling Schemes . . . . . . . . . . . . . . . . . . . . . . . . . . 190
9.5.1 Determination of Geometrical Conditions
for Assembling Branch . . . . . . . . . . . . . . . . . . . . . . . . 190
9.5.2 Assembling Schemes of the Branch Combination . . . . . 194
9.5.3 Check DOF of the PM . . . . . . . . . . . . . . . . . . . . . . . . 196
9.5.4 Selection of Driving Pairs . . . . . . . . . . . . . . . . . . . . . . 196
xvi Contents

9.6 Performance Analysis and Classification of PM Structure

Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
9.6.1 Topological Characteristics of Parallel Mechanisms . . . 197
9.6.2 Performance Analysis of Structure Type . . . . . . . . . . . 199
9.6.3 Classification of Parallel Mechanisms Based
on Topological Characteristics . . . . . . . . . . . . . . . . . . . 202
9.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
10 Topology Design of (3T-1R) Parallel Mechanisms . . . . . . . . . . . . . . 207
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
10.2 Topology Design of (3T-1R) Parallel Mechanisms . . . . . . . . . . 208
10.2.1 Basic Requirements for Topology Design . . . . . . . . . . 208
10.2.2 Structure Synthesis of Branches . . . . . . . . . . . . . . . . . 208
10.2.3 Branch Combination Schemes . . . . . . . . . . . . . . . . . . . 214
10.2.4 Branch Assembling Schemes . . . . . . . . . . . . . . . . . . . 215
10.2.5 Structure Types of (3T-1R) Parallel Mechanism . . . . . . 222
10.2.6 Performance Analysis of PM Structure
Types Based on Topological Characteristics . . . . . . . . . 226
10.2.7 Classification of (3T-1R) PM Structure
Types Based on Performance Analysis . . . . . . . . . . . . 230
10.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Abbreviations

AKC Assur kinematic chain

AKCi ½mi  the ith AKC with vi independent loops
C Cylindrical pair
dim ðMÞ Dimension of POC set, i.e. the number of independent elements
in the POC set
dim ðMð rÞÞ Number of independent rotational elements
dim ðM ðtÞÞ Number of independent translational elements
DOF Degree of freedom
Dred Redundancy of the mechanism
eR Unit vector in direction of R-axis
eP Unit vector in direction of P-axis
eq Unit vector of radius vector
F Degree of freedom
fi DOF of the ith joint
H Helical pair
HSOC Hybrid SOC, i.e. complex SOC with loop
KC Kinematic chain
KC½F; m Kinematic chain with DOF=F and v independent loops
MðMÞ _ POC set (VC set)
M b ðM _ bÞ POC set (VC set) of branch
M H ðM _ HÞ POC set (VC set) of H pair
M P ðM _ PÞ POC set (VC set) of P pair
MPa ðM _ Pa Þ POC set (VC set) of PM
_
M R ðM R Þ POC set (VC set) of R pair
M S ðM _ SÞ POC set (VC set) of SOC
MSðLÞ POC set of SOCðSLCÞ
MsubSOCj POC set of the jth sub-SOC
m Number of joints of mechanism
mj Number of joints of the jth branch
Nov Number of overconstraints

xvii
xviii Abbreviations

n Number of links
P Prismatic pair
PM Parallel mechanism or parallel manipulator
POC Position and orientation characteristics
P Translation of a P pair or derivative translation of an R (or H) pair
Pð4RÞ One translation generated by a parallelogram formed by four R
pairs
Pð4SÞ One translation generated by a parallelogram formed by four S
pairs
R Revolute pair
r 1 ðk RÞ,rðk RÞ A rotation in a direction parallel to axis of R pair
r 1 ðk HÞ,rðk HÞ A rotation in a direction parallel to axis of H pair
r 2 ðk }ðR; R ÞÞ Two rotations in directions within a plane parallel to axis of R
pair and R pair
r3 Three rotations
fr i ðdirÞg Non-independent element put into a brace
S Spherical pair
SLC Single-loop chain
SOC Single-Open-Chain, i.e. serial mechanism
SOC(SLC) SOC corresponding to SLC (Sect. 4.6)
SLC(SOC) SLC corresponding to SOC (Sect. 4.6)
t1 ðk PÞ, tðk PÞ One translation in a direction parallel to axis of P pair
t1 ð?R1 Þ, tð?RÞ One translation in a direction within a plane perpendicular to axis
of R pair
t1 ðk? ðadÞÞ One translation may be parallel to line (ad) or may be
perpendicular to line (ad)
t2 ð? R Þ Two translations in directions within a plane perpendicular to
axis of R pair
t2 ð?qÞ Two translations in directions within a plane perpendicular to
radius vectorq
t2 ðk }ðP; P ÞÞ Two translations in directions within a plane parallel to P and P
t3 Three translations
fti ðdirÞg Non-independent element put into a brace
U Universal pair
VC Velocity characteristics
n Number of independent displacement equations of KC
nL Number of independent displacement equations of SLC
nLj Number of independent displacement equations of the jth loop
Dj Constraint degree of the jth SOC
j Coupling degree of AKC
m Number of independent loops
R k R k  k R Axes of several adjacent R (or H) pairs are parallel (Fig. 2.2a)
Axes of two R pairs are not parallel
RjH Axes of two adjacent pairs are coincident (Fig. 2.2b)
Abbreviations xix

zfflfflfflffl}|fflfflfflffl{ Axes of several adjacent R pairs intersect at one point (Fig. 2.2c)
RR    R
R?P Axes of two adjacent pairs are perpendicular (Fig. 2.2d)
Axes of two pairs are not perpendicular
}ðP; P;    ; PÞ Axes of several P pairs are parallel to one plane (Fig. 2.2e)
RR Axes of kinematic pairs are allocated arbitrarily in the space
(Fig. 2.2f)
R1 ð?P2 Þ k R3 R1 ?P2 and R1 k R3
R k? Pð4RÞ Axes of R pair and Pð4RÞ may be parallel or perpendicular
R k? Pð4SÞ Axes of R pair and Pð4SÞ may be parallel or perpendicular
} ðRi ; Rj Þ A plane parallel to axes of Ri pair and Rj pair
} ð4R Þ Four R pairs form a parallelogram
} ð4SÞ Four S pairs form a parallelogram all the time
Chapter 1
Introduction

1.1 Robot Mechanism Topology

1.1.1 Topological Structure Design of Mechanisms

Topological structure design of a mechanism is to determine the three basic

topological elements and the schematic diagram of the mechanism. The three
essential topological elements of a mechanism are:
(1) Types and number of kinematic pairs [1] (see Sect. 2.2.1 for detail).
(2) Connection relations among links and kinematic pairs [1] (see Sect. 2.2.2 for
detail).
(3) Types of geometrical constraint between kinematic pair axes attached by links
[2–4] (see Sect. 2.2.3 for detail).
Traditional topological structure of mechanisms considers only the first two
basic elements [1]. “Types of geometrical constraint between kinematic pair axes’
was introduced into mechanism topology as the third basic element in 1983
(originally called as “dimensional constraint type”) [2, 3]. It is necessary to intro-
duce the third basic element. Otherwise it will be hard to describe the different
topological structures of the two mechanisms shown respectively in Fig. 2.4a, b.
In this book, the systematic theory and method for topological structure design
of mechanisms is called mechanism topology and the topological structure design
of mechanisms is abbreviated as mechanism topology design.

1.1.2 Basic Tasks of Mechanism Topology

Fundamental tasks of mechanism topology are: (1) to provide a systematic theory

and method for mechanism topology design (i.e. invention of new mechanisms) and

© Springer Nature Singapore Pte Ltd. 2018 1

T.-L. Yang et al., Topology Design of Robot Mechanisms,
https://doi.org/10.1007/978-981-10-5532-4_1
2 1 Introduction

(2) to set up new mechanism composition principle and, based on this principle,
establish a systematic theory and method for unified modeling of mechanism
topology, kinematics and dynamics.

1.1.3 Basic Mode of Mechanism Topology Design

Generally, the mechanism topology design follows a 3-stage mode:

hhTask spaceii ! hhSolution spaceii ! hhSolution optimizationii

ðBasic functionsÞ ðSet of structure typesÞ ðStructure type optimizationÞ

• Task space: to determine the design objectives based on the design specification,
including functional requirements and some performance requirements.
• Solution space: to obtain many structure types which meet the basic functional
requirements using the structure synthesis method and thus to provide a rela-
tively larger solution space (a set of structure types) for structure type
optimization.
• Solution optimization: to carry out performance analysis, comparison and
classification to the structure types in the solution space based on functional
requirements, some performance requirements and other specific requirements
and to provide some useful information for structure type optimization.
Therefore, mechanism topology design shall include two aspects: structure
synthesis (to obtain many structure types) and performance analysis (to classify the
obtained structure types according to their performance).

1.1.4 Main Methods for Mechanism Topology Design

In the decade, topology design of parallel robot mechanism became the research
focus of many researchers. There formed the following four categories of topology
design methods:
(1) Method based on screw theory [5–12]
Main features of this method as follows:
(a) Six components of plucker coordinates are used to describe relative motion
characteristics between two links of a mechanism. They are dependent on
motion position of the mechanism and the fixed coordinate system.
(b) Linear operation of the screw system is relatively simple.
1.1 Robot Mechanism Topology 3

(c) Complex “intersection” operation among motion screw systems is con-

verted to simple “union” operation among constraint screw systems by
using reciprocal product of screws.
(d) For the obtained parallel mechanisms, it is necessary to carry out the
full-cycle DOF verification since this method depends on motion position
of a mechanism.
(2) Method based on subgroup/submanifold [12–22]
Main features of this method as follows:
(a) 12 kinds of displacement subgroups are used for describing the relative
motion characteristics of a mechanism fulfilling the algebra structures of
Lie group.
(b) “Union” and “intersection” operation rules of displacement subgroups are
provided using synthetic arguments or tables of compositions of subgroups
[13, 15, 22].
(c) The full-cycle DOF mechanisms are obtained.
(d) For mechanisms not fulfilling the algebra structures of Lie group, such as
having two dimensional rotations, or five dimensional motion etc [12], the
displacement submanifold based method can be used for structure analysis
and synthesis, which depends on motion position of the mechanism [21].
Therefore, it is necessary to carry out the full-cycle DOF verification for
mechanisms obtained by this method.
(3) Method based on theory of linear transformations and evolutionary morphology
[22–28].
Main features of this method as follows:
(a) Velocity space is used to describe relative motion characteristics between
two links of a mechanism. It is dependent on motion position of the
mechanism and the fixed coordinate system.
(b) The design objectives include DOF of branch, DOF of PM, connectivity of
branch between the moving platform and the fixed platform, connectivity
of PM between the moving platform and the fixed platform, number of over
constraints and redundancy of the mechanism.
(c) Morphological operators (the combination, the mutation, the migration and
the selection) and evolutionary rules are used to determine type, number
and order of kinematic pairs and allocation of pair axes.
(d) For the obtained parallel mechanisms, it is necessary to carry out the
full-cycle DOF verification since this method depends on motion position
of a mechanism.
(4) Method based on POC equations [4, 29–47].
Main features of this method as follows:
(a) Six elements of POC set are used to describe relative motion characteristics
between two links of a mechanism. They are independent of motion
4 1 Introduction

position (excluding singular position) of the mechanism and the fixed

coordinate system.
(b) The topology design process is divided into two stages: the structure
synthesis is conducted and many structure types are obtained during the
first stage and performance analysis and classification are carried out for
those obtained structure types during the second stage.
(c) Theoretical bases of this method are the POC equation for serial mecha-
nisms, the POC equation for parallel mechanisms and the general DOF
formula. These equations (formula) are independent of motion position of a
mechanism and the fixed coordinate system (i.e. it is not necessary to
establish the fixed coordinate system).
(d) Since this method is independent of motion position, the full-cycle DOF
mechanisms are obtained. Since the method is independent of the fixed
coordinate system, the geometry conditions of mechanism existence have
generality.
(e) Since this method is independent of motion position of a mechanism and
the fixed coordinate system, it could be called a geometrical method, which
is totally different from the other three methods.

1.1.5 Mechanism Composition Principles and Mechanism

Theory Systems

In the development history of mechanism theory, there formed 4 types of mecha-

nism composition principles. Corresponding theory systems covering topology,
kinematics and dynamics of mechanisms have been established based on these
composition principles.
(1) Mechanism composition principle based on AKC (i.e. Assur kinematic
chain). The corresponding systematic theory and method for topology, kine-
matics and dynamics of mechanisms based on AKC modeling are established
[48–52].
(2) Mechanism composition principle based on link-pair unit. The corresponding
systematic theory and method for topology, kinematics and dynamics of
mechanisms based on link-pair unit modeling are established [50, 53–56].
(3) Mechanism composition principle based on loop unit. The corresponding
systematic theory and method for topology, kinematics and dynamics of
mechanisms based on loop unit modeling are established [50, 57–59].
(4) Mechanism composition principle based on SOC unit. The corresponding
systematic theory and method for topology, kinematics and dynamics of
mechanisms based on SOC unit modeling are established [44, 60–73].
1.2 Objectives and Originality of This Book 5

1.2 Objectives and Originality of This Book

1.2.1 Objectives

Our original work on robot mechanism topology during the past 30 years is
introduced in this book. The main objectives are:
(1) to provide an original systematic method for topology design of robot mech-
anisms. This topology design method covers two aspects—structure synthesis
(to obtain many structure types) and performance analysis (to select the best
structure type) and has been used in topology design of (2T-0R), (1T-1R),
(0T-2R), (3T-0R), (0T-3R), (2T-1R), (1T-2R), (3T-1R), (2T-2R), (1T-3R),
(3T-2R), (2T-3R) and (3T-3R) parallel mechanisms.
(2) to provide a systematic theory and method for topology, kinematics and
dynamics of mechanisms based on SOC unit modeling.
Main contents of this book include 3 basic concepts for mechanism topology, 1
mechanism composition principle, 4 basic equations, 12 topological characteristics
and a general method for PM topology design.

1.2.2 Basic Concepts

Three new basic concepts for mechanism topology are proposed.

(1) The geometric constraint type of axes.
Type of geometric constraint relation between kinematic pair axes (abbreviated as
geometric constraint type of axes). [2, 3], together with the other two existing
concepts (type of kinematic pair, connection relation between links) [1] are used to
describe the mechanism topological structure. They are called three basic elements
of mechanism topological structure. Topological structure described by the three
key elements is independent of motion position of the mechanism (excluding
singular positions) and the fixed coordinate system. So, it is called the topological
structure invariance during motion process. Refer to Chap. 2 for detail.
(2) Position and orientation characteristics (POC) set.
The POC set is used for describing the relative motion characteristics between
any two links of a mechanism. The POC set is defined based on the unit vector
set of velocity component set of link, which depends only on topological
structure of a mechanism and is independent of motion position (excluding
singular positions) of the mechanism and the fixed coordinate system. Refer to
Chap. 3 for detail [3, 4, 29–36].
(3) Single open chain (SOC) unit.
The SOC unit is used as the basic structure unit to establish the basic topology
equations (refer to Chaps. 4, 5 and 6) and to develop a new mechanism
composition principle (Chap. 7).
6 1 Introduction

1.2.3 Mechanism Composition Principle

Mechanism composition principle based on SOC unit is proposed and is used to

build up a systematic theory and method for topology, kinematics and dynamics of
mechanisms (refer to Chap. 7 for detail).

1.2.4 Basic Equations

Based on the above three new concepts, four basic equations (formula) for mech-
anism topology are established.
(1) POC equation for serial mechanisms (Eq. 4.4) [3, 4, 33, 39, 40]

[
m
MS ¼ M Ji ð4:4Þ
i¼1

There are 10 symbolic operation rules for Eq. (4.4) (eight linear rules and two
nonlinear criteria). The equation and these operation rules are independent of
motion position of the mechanism (excluding singular position) and the fixed
coordinate system (refer to Chap. 4 for detail).
(2) POC equation for parallel mechanisms (Eq. 5.3) [3, 4, 33, 39, 40]

ðm\
þ 1Þ
MPa ¼ Mbj ð5:3Þ
j¼1

There are 14 symbolic operation rules for Eq. (5.3) (12 linear rules and two
nonlinear criteria). The equation and these operation rules are independent of
motion position of the mechanism (excluding singular position) and the fixed
coordinate system (refer to Chap. 5 for detail).
(3) General formula for DOF calculation (Eq. 6.8) [41–43].
8
> Pm Pm
<F ¼ f i  n Lj
i¼1
n j¼1 o ð6:8Þ
: n ¼ dim T j M  [ M
>
Lj i¼1 b i bðj þ 1Þ

The above three Eqs. (4.4), (5.3) and (6.8) reveal the mapping relations among
topological structure, POC and DOF of a mechanism (Fig. 1.1). They are basic
equations for mechanism topology analysis and synthesis (refer to Chaps. 6–10
for detail).
1.2 Objectives and Originality of This Book 7

Fig. 1.1 Mapping relations among basic equations

(4) Formula for AKC’s coupling degree calculation (Eq. 7.9) [3, 4, 33, 44, 46,
60, 61].
( )
1 Xm
j ¼ min jDj j ð7:9Þ
2 j¼1

The coupling degree formula (Eq. 7.9) reveals the mapping relations among
mechanism topological structure, SOC constraint degree and dimension of
AKC’s kinematic (dynamic) equations (i.e. number of unknowns). It provides a
theoretical basis for building up a systematic theory and method for topology,
kinematics and dynamics of mechanisms based on SOC unit modeling (refer to
Chap. 7 for detail).

1.2.5 Topological Characteristics of Parallel Mechanisms

Based on the above four basic equations (formula), a set of topological charac-
teristics of parallel mechanisms can be derived. These topological characteristics
include POC set, DOF, number of independent displacement equations, number of
over constraints, redundant DOF, inactive kinematic pairs, driving pairs allocation,
type and number of AKCs, coupling degree of AKC, type of DOF, motion
decoupling, etc. They have close relations with basic functions, kinematic (dy-
namic) performance and control performance of parallel mechanisms (Chap. 9) and
can be used in performance analysis, classification and optimization of parallel
structure types (Chap. 10).
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