Design of 2-degrees-of-freedom (DOF) planar translational mechanisms with parallel linear motion elements for an automatic docking device

摘要

AbstractA class of kinematic chains assembled from parallel linear motion elements were investigated using screw theory. Based on a consideration of kinematic screws, two types of kinematic chain were identified, and the singularities were determined. By synthesizing these kinematic chains, 2-degree-of-freedom (DOF) planar translational mechanisms with three limbs were designed. Furthermore, the kinematics and stiffnesses of these mechanisms were studied. The mechanisms were used in an automatic docking device, designed for joining two water pipes in a water sample collection system aboard an unmanned surface vehicle. Simplified equations for the maximum displacement and driving force of this device were also derived. Simulations of the 2-DOF planar translational mechanisms and the docking procedures were carried out. Finally, a prototype was manufactured to verify the mobility and motion feasibility of these mechanisms.]]>