Int. J. Mechanisms and Robotic Systems, Vol. 1, No.

1, 2013 35

Basic problems and criteria for synthesis of robotics

Xiangdun Meng and Feng Gao*

State Key Laboratory of Mechanical System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
No. 800, Road Dongchuan, Minhang,
Shanghai 200240, China
E-mail: [email protected]
E-mail: [email protected]
*Corresponding author

Abstract: 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.

Keywords: type synthesis; parallel mechanisms; basic frame; performance

criteria; GF sets.

Reference to this paper should be made as follows: Meng, X. and Gao, F.

(2013) ‘Basic problems and criteria for synthesis of robotics’, Int. J.
Mechanisms and Robotic Systems, Vol. 1, No. 1, pp.35–48.

Biographical notes: Xiangdun Meng is a PhD student in Mechanical

Engineering at the Shanghai Jiao Tong University, China. His research interests
include type synthesis of parallel mechanisms.

Feng Gao received his PhD Mechanical Engineering from Beihang University,
China. He is a Professor at the Shanghai Jiao Tong University, China. He is the
Director of State Key Laboratory of Mechanical System and Vibration. His
research interests include key technology in the design theory and application
of parallel robots and parallel numerical control equipment.

Copyright © 2013 Inderscience Enterprises Ltd.

36 X. Meng and F. Gao

1 Introduction

As the most celebrated parallel manipulator, the Stewart platform was proposed by
Stewart (1965). With advantages of high stiffness, high load weight ratio, low inertia and
high speed over their serial counterparts, the parallel manipulators attracted decent
amount of interest and obtained remarkable developments in different areas (Dasgupta
and Mruthyunjaya, 2000), such as kinematics, dynamics, singularities and workspace
analysis, leading to extensive use for various applications including heavy manufacturing
and manipulation equipments (forging manipulator), dynamic simulators (flight simulator
and heavy load earthquake simulator), large-scale construction machinery (heavy
excavator), micro-operation equipment, high load or high speed robots and
human-machine interaction and perception (six-dimensional mouse). However,
advancement of type synthesis approaches cannot keep pace with the demand for more
kinds of parallel mechanisms from growing applications. A complete and valid type
synthesis approach must propose rigorous performance criterions, the general number
synthesis formula, correct algorithms, the design method of kinematic chains and parallel
mechanisms.
At present, there are several distinctive approaches for type synthesis of parallel
mechanisms:
1 Approaches based on screw theory
In constraint synthesis method derived from screw theory (Huang and Li, 2002a,
2002b; 2003a, 2003b), three classes, totally six kinds, of constraint systems
(constraint screw 1-system, the first and the second constraint screw 2-system, the
first, the second and the third constraint screw 3-system) were proposed to describe
nine kinds of lower mobility parallel mechanisms. Using basic linear combination as
algorithms, the combination of all pairs’ twist is the limb’s twist system, while the
combination of all limbs’ structural constraints is the mechanism constraint system.
Utilising the constraint synthesis method, symmetrical 3, 4, 5-degree of freedom
(DoF) parallel mechanisms were synthesised. In the virtual chain type synthesis
method based on screw theory (Kong, 2003; Kong and Gosselin, 2001, 2004a,
2004b, 2004c, 2005, 2007), 13 kinds of virtual chains (PPS, US, UE, PPPU, PS, SP,
PPPR, 2 – PPPU, E, PPR, PPP, S, 3 – PPS) were proposed to act as a preliminary
classification of motion patterns and a formula was developed to calculate the
combination of the orders, ci, of leg wrench systems. With this method, generators
of 3-DoF translations, spherical motion and 4-DoF (3T1R) motion, 5-DoF US
equivalent parallel manipulators and 6-DoF wrist-partitioned parallel manipulators
were obtained.
2 Approach based on group theory
Based on Lie group and Lie algebraic (Herve, 1978, 1999; Lee and Herve, 2006,
2009), 12 kinds of displacement subgroups ({E}, {T(u)}, {R(N, u)}, {H(N, u, p)},
{T(p)}, {C(N, m, u)}, {T}, {G(p)}, {Y(w, p)}, {S(N)}, {X(w)}, {D}) and algorithms
of intersection and union operation between these groups were proposed to
synthesise parallel mechanisms. Twenty-five kinds of submanifolds (Meng, 2008;
Meng et al., 2007) supplement the failure of Lie subgroups to represent all motion
types, expanding the synthesis approach based on group theory and offering the
 Basic problems and criteria for synthesis of robotics 37

methods for designing serial manipulators and parallel mechanisms with specific
subgroups and submanifolds.
3 Approach based on the theory of linear transformations and evolutionary
morphology
Based on the theory of linear transformations and evolutionary morphology, a
synthesis method was developed (Gogu, 2004, 2005, 2007a, 2007b, 2009a, 2009b,
2010a, 2010b, 2011a, 2010b). The basic operations of evolutionary morphology
include combination, mutation, migration, selection. Using this approach, the
structural solutions of TxRy-type parallel robots with coupled, decoupled and
uncoupled motions, along with fully-isotropic and maximally regular solutions,
innovative solutions of over constrained or non-over constrained, non-redundant or
redundantly actuated parallel robots with simple or complex limbs actuated by linear
or rotating motors were obtained.
4 Approach based on the position and orientation characteristic (POC) sets
Fifteen kinds of POC sets were proposed to describe motion types (Shen et al.,
2005a, 2005b; Yang, 2004; Yang et al., 2009). The basic algorithms include two
union operation rules and one non-linear criterion for rotation elements, two union
operation rules and one non-linear criterion for translation elements; six intersection
operation rules for rotation elements, six intersection operation rules
for translation elements and two non-linear criteria for determining independent
element. The methods for designing kinematic chains and parallel mechanisms were
provided.
5 Approach based on GF sets
In the approach based on the GF sets theory, two classes of GF sets, totally
21 kinds, were defined to precisely describe the mobility of end-effectors. The
law of one-dimensional rotation, the theorem of axis movement, and the algorithms
of intersections of GF sets were raised to conduct the design of kinematic limbs, and
type synthesis of parallel mechanisms with specific GF sets.
Coexistence of distinctive type synthesis approaches indicates significant progress in this
field, but confusion in discussion, especially in basic conceptions and objectives of type
synthesis, hinders communication among researchers and bigger advancement.

2 Basic problems of type synthesis of parallel mechanisms

Researchers used different tools to develop distinctive type synthesis approaches. As a

scientific problem, type synthesis of parallel mechanisms is endowed with universality
among various approaches. The universality lies in the fact that a complete and valid type
synthesis approach must solve basic problems of type synthesis of parallel mechanisms,
seeking proper mathematical tools and fundamental laws, setting up performance
evaluation criterion system and classification of mechanisms, developing calculation
rules among performance criteria, setting up the number synthesis model and formula,
providing the method for designing kinematic chains and parallel manipulators. These
aspects have close relation, constituting the frame of type synthesis of parallel
38 X. Meng and F. Gao

mechanisms. As shown in Figure 1, based on mathematical foundation, complete

evaluation criteria is setup and parallel mechanisms are classified; based on the machine
theory and fundamental laws of motion, algorithms are constructed; type synthesis of
parallel mechanism is conducted on basis of these aspects.
Problem 1 Mathematical tools, performance criteria and classification of mechanisms
Mathematical tools are the theoretical foundation of synthesis approaches.
Appropriate mathematical tools systematise and facilitate complex synthesis
process. Based on the mathematical foundation, a performance evaluation
criteria system can be setup to describe characteristics of end-effectors
completely and precisely. Mechanisms are classified with no lack and no
redundancy according to the criteria system, which should be non-algebraic,
dimensionless, orderly and independent of the choice of coordinate systems.
Type synthesis is a process from scratch, in which criteria is both the input at
the start and the judgement whether the result satisfy requirement at the end.
So the integrity of performance criteria plays an important role in type
synthesis approach. At present, mathematical tools used in type synthesis of
parallel mechanisms include the screw theory, Lie group and Lie algebraic,
differentiable manifold, set theory. Accordingly, various performance criteria
systems are developed, such as constraint screw system, displacement
subgroups and submanifolds, POC sets and GF sets.

Problem 2 Fundamental laws and algorithms of intersection operation

Generally, the characteristic of end-effectors is the intersection of all limbs’
characteristics. So fundamental laws and algorithms of intersection operation
are necessary to obtain various types of parallel mechanisms. As the core of
type synthesis approach, algorithms must take mathematical and kinematical
property into account and precisely describe the relations between the
characteristics of end-effectors and limbs. Algorithms could be existing
operation of mathematical tools, such as linear combination of screws; or
newly constructed calculation rules, such as intersection and union rules
between different subgroups, POC sets, GF sets.
Problem 3 Number synthesis formula

There are numerous structural parameters, such as the number of limbs, the
number of actuated limbs, the number of actuators in a limb and the number
of passive limbs, all of which are closely related to the dimension of the
characteristics of the end-effectors. The process of obtaining combination
solutions of these parameters according to given dimension of the
characteristics of the end-effectors is the so called number synthesis.
A type synthesis approach should setup the number synthesis model to
represent the relations and provide the number synthesis formula. Traditional
DoF formulas, representing relations between DoF and structural parameters
of mechanisms, can solve this problem on some cases. But it must be
unequivocal that the DoF is not equal to the dimension of the characteristics
of the end-effectors.
 Basic problems and criteria for synthesis of robotics 39

Problem 4 Design of kinematic chain

A parallel mechanism is composed of one fixed platform, one mobile
platform and kinematic chains connecting them. The design of chains is the
key point of type synthesis. The creativity of kinematic chains determines
the innovation of parallel mechanisms. A type synthesis approach should
provide the design basis and method to obtain all kinematic chains meeting
requirements. Especially, the order of motion, the location of rotation axis
should be taken into account.
Problem 5 Synthesis of parallel mechanisms
Synthesis of parallel mechanisms is the process of using what is obtained in
above aspects and assembling kinematic chains to get parallel mechanisms.
Assembling geometry conditions must be provided to guarantee that parallel
mechanisms meet requirements.

Figure 1 Basic problems of type synthesis of parallel mechanisms

3 GF sets

Several distinctive performance criteria systems are used in various type synthesis
approaches of parallel mechanisms, such as constraint screw system, virtual
chains, displacement subgroups and sub manifolds, POC sets, all of which have
respective features. Except virtual chains, these criterions are limited into types and
dimensions of motion. To handle the extremely diverse range of topology performances
of robotic mechanisms an efficient and general performance criterion must be
40 X. Meng and F. Gao

developed that is applicable to the design of the topologies for robotic mechanisms,
which should be non-algebraic, dimensionless, and independent of the choice of
coordinate systems.
We propose a specialised set to describe the topological performance property of the
kinematic mobility of the end-effectors of robotic mechanisms. The sets are named the
generalised function sets (GF sets), that is GF (Ta, Tb, Tc, Rα, Rβ, Rγ), where the
components Ti(i = a, b, c) denote the translational characteristics of the end-effector, and
the components Rj(j = α, β, γ) represent the rotational characteristics of the end-effector
in terms of three successive rotations. When the element is non-zero, the corresponding
capability exists; when the element is zero, the corresponding capability does not exist.
The components Ta, Tb, Tc are non-coplanar simultaneously and two of them are not
collinear. The components Rα, Rβ, Rγ are not coplanar simultaneously and two of them are
not collinear.
Completeness is a characteristic describing rotational ability of end-effector. In
full-cycle, in any configuration, the end-effector can rotate around not only the axis l of
the kinematic pair generating rotation, but also any line parallel with l. The rotation
having this characteristic is called complete rotation. Theorem of axis movement could
be a criterion to determine the completeness of rotation.
Theorem-axis movement theorem: If a kinematic chain on a plane has mobility of 2D
translations and one dimension rotation, whose axis is perpendicular to the 2D translation
plane, the end-effector of the kinematic chain can rotate around any axis perpendicular to
the 2D plane and passing a point on the end-effector, wherever the revolute joint is. That
is to say, the location of the rotation axis has no influence on the characteristics of the
end-effector.
The original two classes of GF sets are not sufficient to evaluate characteristics of
end-effectors comprehensively and precisely. In this paper, the GF sets are expended into
three categories by taking into account dimensions and types of motion and
characteristics of rotation axis.

4 The first class of GF sets

A mechanism belongs to the first class of GF sets, if motion characteristics of

end-effector contain no rotation; or if the motion characteristics contain rotations, all of
which is complete.
In the first case, motion characteristics of end-effector contain only translations. In
the second case, according to the theorem of axis movement, on the plane vertical to the
rotation axis, there must be two non-parallel translations. All of the rotational
characteristics are complete. This class of GF sets is listed in Table 1, totally seven kinds,
and their schematics are shown in Figure 2. In this figure, Ta, Tb and Tc are respectively
parallel with ν1, ν2 and ν3, while Rα, Rβ and Rγ are respectively parallel with ω1, ω2 and
ω3.
Rotational characteristics of the first class of GF sets are complete, which means that
rotational center of end-effectors is not influenced by location of kinematic pairs. Taking
GFI (Ta , Tb , Rα , 0, 0, 0) Rα ⊥ Tα Tb for example, this kind of GF set contains two
dimensional translations and one dimensional rotation vertical to the translation plane.
 Basic problems and criteria for synthesis of robotics 41

Table 1 Comprehensive list of the first class of GF sets

Dim GF sets Conditions Schematics

1 GFI (Ta , 0, 0, 0, 0, 0) Figure 2(a)
2 G (Ta , Tb , Rα , 0, 0, 0)
I
F Rα⊥ TaTb Figure 2(b)
3 GFI (Ta , Tb , Tc , 0, 0, 0) Figure 2(c)

GFI (Ta , Tb , Rα , 0, 0, 0) Rα⊥ TaTb Figure 2(d)

4 GFI (Ta , Tb , Tc , Rα , 0, 0) Figure 2(e)

5 GFI (Ta , Tb , Tc , Rα , Rβ , 0) Figure 2(f)

6 GFI (Ta , Tb , Tc , Rα , Rβ , Rγ ) Figure 2(g)

Figure 2 Schematics of the first class of GF sets

(a) (b)

(c) (d)
42 X. Meng and F. Gao

Figure 2 Schematics of the first class of GF sets (continued)

(e) (f)

(g)

5 The second class of GF sets

A mechanism belongs to the second class of GF sets, if motion characteristics of

end-effector contain rotation, none of which is complete. In this case, translation is not
full rank on the plane vertical to the axis of rotation. At first, no rotation could be
complete if there is no translation or only one dimensional translation. When motion
characteristics contain two dimensional translations, no rotations could be complete if the
axes of rotations are not vertical to the plane containing two-dimensional translations.
Thirty-one kinds of the second class of GF sets are listed in Table 2, and schematics of
part of them are shown in Figure 3. In this figure, Ta, Tb and Tc are respectively parallel
with ν1, ν2 and ν3, while Rα, Rβ and Rγ are respectively parallel with ω1, ω2 and ω3.
 Basic problems and criteria for synthesis of robotics 43

Table 2 Comprehensive list of the second class of GF sets

Dim GF sets Conditions

1 GFII ( Rα , 0, 0, 0, 0, 0)

2 GFII ( Rα , Rβ , 0, 0, 0, 0)

GFII ( Rα , Rβ , 0, 0, 0, 0)

GFII ( Rα , Ta , 0, 0, 0, 0)

GFII (Ta , Rα , 0, 0, 0, 0)

3 GFII ( Rα , Rβ , Rγ , 0, 0, 0)

GFII (Ta , Rα , Rβ , 0, 0, 0)

GFII ( Rα , Rβ , Ta , 0, 0, 0)

GFII ( Rα , Ta , Rβ , 0, 0, 0)

GFII (Ta , Tb , Rα , 0, 0, 0) Rα⊥N TaTb

GFII ( Rα , Ta , Tb , 0, 0, 0) Rα⊥N TaTb

GFII (Ta , Rα , Tb , 0, 0, 0) Rα⊥N TaTb

4 GFII ( Rα , Rβ , Rγ , Ta , 0, 0)

GFII ( Rα , Rβ , Ta , Rγ , 0, 0)

GFII ( Rα , Ta , Rβ , Rγ , 0, 0)

GFII (Ta , Rα , Rβ , Rγ , 0, 0)

GFII ( Rα , Rβ , Ta , Tb , 0, 0) Rβ⊥N TaTb

GFII ( Rα , Ta , Rβ , Tb , 0, 0)

GFII ( Rα , Ta , Tb , Rβ , 0, 0) Rα, Rβ⊥N TaTb

GFII (Ta , Rα , Rβ , Tb , 0, 0)

GFII (Ta , Rα , Tb , Rβ , 0, 0)

GFII (Ta , Tb , Rα , Rβ , 0, 0) Rα⊥N TaTb

5 GFII (Ta , Tb , Rα , Rβ , Rγ , 0) Rα⊥N TaTb

GFII (Ta , Rα , Tb , Rβ , Rγ , 0)

GFII (Ta , Rα , Rβ , Tb , Rγ , 0)

GFII (Ta , Rα , Rβ , Rγ , Tb , 0)

GFII ( Rα , Ta , Tb , Rβ , Rγ , 0) Rα⊥N TaTb

GFII ( Rα , Ta , Rβ , Tb , Rγ , 0)
44 X. Meng and F. Gao

Table 2 Comprehensive list of the second class of GF sets (continued)

Dim GF sets Conditions

GFII ( Rα , Ta , Rβ , Rγ , Tb , 0)

GFII ( Rα , Rβ , Ta , Tb , Rγ , 0) Rβ, Rγ⊥N TaTb

GFII ( Rα , Rβ , Ta , Rγ , Tb , 0)

GFII ( Rα , Rβ , Rγ , Ta , Tb , 0) Rγ⊥N TaTb

Figure 3 Schematics of part of the second class of GF sets

(a) (b)

(c) (d)

Because rotation of the second class of GF sets is not complete, the characteristic of
end-effector is sensitive to axis location of revolute pair. Two kinds of GF sets,
GFI ( Rα , Ta , 0, 0, 0, 0) and GFI (Ta , Rα , 0, 0, 0, 0), represent characteristics having
equal dimensions, the same motion types, but different properties of rotation centres.
Rotation centre of the former GF set can only be fixed axis of revolute pairs connected
with frame; rotation centre of the latter GF set is also axis of revolute pairs, which can
move along translational line. However, in one configuration, there is only one rotation
centre.
 Basic problems and criteria for synthesis of robotics 45

6 The third class of GF sets

A mechanism belongs to the third class of GF sets, if motion characteristics of

end-effector contain more than one dimensional rotations and only one of them is
complete. According to axis movement theorem, there must be two dimensional
translations to endow part of rotations with completeness, as listed in Table 7, and their
schematics are shown in Figure 4. In this figure, Ta, Tb and Tc are respectively parallel
with ν1, ν2 and ν3, while Rα, Rβ and Rγ are respectively parallel with ω1, ω2 and ω3.
Table 3 Comprehensive list of the third class of GF sets

Dim GF sets Conditions Schematics

4 G (Ta , Tb , Rα , Rβ , 0, 0)
III
F Rα⊥ TaTb Figure 4(a)

GFIII ( Rα , Ta , Tb , Rβ , 0, 0) Rβ⊥ TaTb Figure 4(b)

5 GFIII (Ta , Tb , Rα , Rβ , Rγ , 0) Rα⊥ TaTb Figure 4(c)

GFIII ( Rα , Ta , Tb , Rβ , Rγ , 0) Rβ⊥ TaTb Figure 4(d)

G ( Rα , Rβ , Ta , Tb , Rγ , 0)
III
F Rγ⊥ TaTb Figure 4(e)

Figure 4 Schematics of the third class of GF sets

(a) (b) (c)

(d) (f)
46 X. Meng and F. Gao

When there is two-dimensional rotations, the complete one could be

Rα (GFIII (Ta , Tb , Rα , Rβ , 0, 0), Rα ⊥ TaTb ) or Rβ (GFIII ( Rα , Ta , Tb , Rβ , 0, 0), Rβ ⊥ TaTb ).
In the first case, the characteristic of end-effector is not influenced by location of revolute
pair that generates Rα, but sensitive to location of revolute pair that generates Rβ.

7 Conclusions

In this paper, the contributions of current several distinctive approaches, including

approaches based on screw theory, group theory, the theory of linear transformations and
evolutionary morphology, the POC sets and the GF sets theory are discussed. On the basis
of this investigation, the research frame of type synthesis of parallel robotics has been
proposed.
The basic problems which should be solved by a complete and valid type synthesis
approach are discussed in this paper. A type synthesis approach must seek proper
mathematical tools and fundamental laws, setup performance evaluation criteria system
and classification of mechanisms, develop calculation rules among performance criteria,
setup the number synthesis model and formula, provide the method for designing
kinematic chains and parallel manipulators.
The conception of GF sets has been expanded and, totally, 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 are enumerated, which evaluate characteristics of end-effectors, especially property
of rotation axis, completely and precisely. The study setup the foundation for a
systematic type synthesis approach of parallel mechanisms.

Acknowledgements

This research was partially supported by National Hi-Tech Research and Development
Program of China (863 Program, Grant No. SQ2011AA0403839001), Doctoral Fund of
Ministry of Education of China (Grant No. 20110073130009) and National Natural
Science Foundation of China (Grant No. 51175323).

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Nomenclature
νi, (i = 1, 2, 3) The axis vector of the prismatic pair
ωj, (j = 1, 2, 3) The axis vector of the revolute pair
Ti, (i = a, b, c) The translational characteristic of end-effector
Rj, (j = α, β, γ) The rotational characteristic of end-effector
Rβ⊥ TaTb Axis of rotation characteristic is vertical to plane containing translation Ta
and Tb
Rβ⊥N TaTb Axis of rotation characteristic is not vertical to plane containing translation Ta
and Tb