期刊
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
卷 4, 期 4, 页码 -出版社
ASME
DOI: 10.1115/1.4007410
关键词
mobility; singularity; rotational parallel mechanism; graphic approach; screw theory
资金
- National Natural Science Foundation of China [51175010, 50175011, 50905007, 50975007]
In this paper, a visual graphic approach is presented for the mobility and singularity analysis of mechanisms with no helical pair. The presented method is established upon the reciprocal screw system theory. Using the visual graphic approach, the mobility and singularity analysis mainly requires applying a few simple rules and involves into no formula derivation. As a case study, the mobility and singularity analysis is implemented for a class of two degrees of freedom (DOF) rotational parallel mechanisms (RPMs), including the Omni-Wrist III with four limbs and its two derived architectures with three limbs called the T-type and Delta-type RPMs. The Delta-type one is found to has kinematic properties close to the Omni-Wrist III. [DOI: 10.1115/1.4007410]
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