The Issue of Type Synthesis of Kinematic Chains of Spherical Parallel Mechanisms with Linear Drives

被引：0
|
作者：
Laryushkin, P. A. [1 ]
Khrestina, A. A. [2 ]
Sinitsyna, Yu. V. [1 ]
Semenov, A. V. [1 ]
机构：
[1] Bauman Moscow State Tech Univ, Moscow 105005, Russia
[2] Russian Acad Sci IMASH RAN, Mech Engn Res Inst, Moscow 101900, Russia
来源：
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2025年 / 54卷 / 02期
关键词：
parallel mechanisms; spherical mechanisms; type synthesis; screw calculus; kinematic chain; ROBOT;
D O I：
10.1134/S1052618824701760
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The issue of structural synthesis of kinematic chains of spherical parallel mechanisms with linear drives is considered. Screw calculus is used to analyze the mobility of chains. Possible structures of chains, including three and four passive rotary kinematic pairs, are successively investigated. It is shown that, if there are three rotary pairs in the chain, the synthesis of a spherical mechanism with linear drives is impossible, and the use of chains with four rotary pairs for this purpose is possible if there is a planar dyad in the chain, including a driving prismatic pair and two rotary pairs.
引用
收藏
页码：125 / 132
页数：8
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