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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 8, 179-193, 2017
https://doi.org/10.5194/ms-8-179-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Research article
22 Jun 2017
A novel 2-DOF planar translational mechanism composed by scissor-like elements
Yi Yang, Yaping Tian, Yan Peng, and Huayan Pu School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
Abstract. The kinematic chain comprised by SLEs (scissor-like elements) has a wide range of motion, which provides a benefit for the mechanism design. A family of SLE-Pa (SLE-parallel) legs which consist of two identical SLE limbs are proposed in this paper. The mobility and kinematics are discussed for three kinds of SLE-Pa legs which are distinguished by the different positions of the middle links in legs. Through assembling these SLE-Pa legs, a novel 2-DOF planar translational mechanism is developed and its work space is studied. For the purpose of adding the recovery function, the elastic elements are installed for this mechanism. The stiffness synthesis of the mechanism is investigated for the various elastic elements and their positions. The approximation of the stiffness coefficient is also derived. Further, this kind of mechanism is applied for the design of the passive docking device. The docking procedure is simulated by Adams, and the prototype of one SLE-Pa leg is presented at the end.

Citation: Yang, Y., Tian, Y., Peng, Y., and Pu, H.: A novel 2-DOF planar translational mechanism composed by scissor-like elements, Mech. Sci., 8, 179-193, https://doi.org/10.5194/ms-8-179-2017, 2017.
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Short summary
The kinematic chain comprised of SLEs (scissor-like elements) has a wide range of motion, which is of benefit for the mechanism design. In this paper, we create a 2-DOF translational parallel mechanism with SLEs. The translational parallel mechanism is composed by several SLE-Pa (SLE-parallel) legs, which consist of two identical SLE limbs. This kind of mechanism is applied to the design of a passive docking device, and the prototype of one SLE-Pa leg is presented.
The kinematic chain comprised of SLEs (scissor-like elements) has a wide range of motion, which...
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