Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform

被引：4
|
作者：
Yi, Byung-Ju [1 ]
Kim, Whee Kuk [2 ]
机构：
[1] Hanyang Univ, Dept Elect Syst Engn, Ansan, South Korea
[2] Korea Univ, Dept Electromech Syst Engn, Sejong, South Korea
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2018年 / 32卷 / 11期
关键词：
Lower mobility; Parallel mechanism; Screw theory; Synthesis; Task-oriented; LIE GROUP; MANIPULATORS; 4-DOF; 3-DOF;
D O I：
10.1007/s12206-018-1036-5
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A systematic procedure for the task-oriented type synthesis of parallel mechanisms (PMs) with a common platform is proposed in this study. The method is composed of two stages. In the first stage, constraint wrenches that are compatible to specific task-oriented output motions of the PM is distributed to several limbs. In the second stage, the geometric conditions and admissible joint structures of PM limbs are identified by employing the concept of reciprocal screw. Then desired symmetric or asymmetric PMs are constructed with the proper combinations of those admissible limbs. Lastly, the suggested synthesis method is verified by identifying various forms of lowermobility PMs, such as planar 1T-type PMs, spatial 2T-type PMs and spatial 1T2R-type PMs.
引用
收藏
页码：5373 / 5387
页数：15
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