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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 12

Structure Synthesis of Spatial Mechanisms

Abstract

The application of DOF analysis theory in the structure synthesis and the design innovation of mechanisms is studied. Through presenting general steps in mechanism synthesis, the basic method for the innovative design of mechanism with the universal significance is also studied. With a comprehensive case study for the innovative design of the lower limb machine of a biped humanoid robot and the independent suspension of a car, the application of DOF analysis theory in the innovative design of mechanisms has been investigated.

Keywords

Mechanism synthesis; Kinematic chain; Terminal constraint; Lower limb of a humanoid robot; Independent suspension; Knuckle

In mechanical engineering, ...

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