A new method to study the degree of freedom of spatial parallel mechanisms

被引：23
|
作者：
Zhao, JS [1 ]
Zhou, K
Mao, DZ
Gao, YF
Fang, Y
机构：
[1] Tsinghua Univ, Dept Precis Instruments, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Dept Mech, Beijing 100084, Peoples R China
[3] No Jiaotong Univ, Dept Mech Engn, Beijing 100044, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2004年 / 23卷 / 3-4期
关键词：
screw theory; degree of freedom; platform spatial parallel mechanism; limb;
D O I：
10.1007/s00170-003-1705-z
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The traditional formulae for degree of freedom are not valid in solving the platform for certain complex spatial parallel mechanisms. Therefore, by uniformly depicting the kinematic and geometric constraints of a mechanism with a screw theory, we put forward a new method to study the degree of freedom for the platform of spatial parallel mechanisms. This method should solve the analysis and calculation problems of the degree of freedom in many complex spatial parallel mechanisms, which may not always be solved correctly with traditional formulae.
引用
收藏
页码：288 / 294
页数：7
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