Affiliation:
1. Beijing University of Technology
2. Yanshan University
Abstract
A coupled mechanism is different from common parallel mechanism with independent limbs, so it is impossible to analyze the constraint and mobility by the traditional method based on screw theory. To overcome this problem, this paper proposes a new procedure to determine the overconstraint for coupled mechanisms based on screw theory, where a coupled mechanism is decomposed into several basic elements. The validity of the new procedure is further proved from the constraint and mobility analysis for a classical mechanism.
Publisher
Trans Tech Publications, Ltd.
Reference6 articles.
1. Z. Huang and Q. C. Li: Type Synthesis of Symmetrical Lower-mobility Parallel Mechanisms using Constraint-Synthesis Method, The International Journal of Robotics Research, Vol. 22 (2003), pp.59-79.
2. J. M. Rico, J. Gallardo and B. Ravani: Lie Algebra and the Mobility of Kinematics Chains, Journal of Robotics System, Vol. 20 (2003), pp.477-499.
3. J. Angeles, C. Gosselin: Détermination du Degré de Liberté des Chaıˆnes Cinématiques. Transactions of the Canadian Society for Mechanical Engineering, Vol. 12 (1988), pp.219-226.
4. Z. Huang: Spatial Mechanisms, China Machine Press, Beijing, pp.126-141 (1991).
5. Z. Huang, L. F. Kong and Y, F, Fang: Mechanism Theory of Parallel Robotic Manipulators and Control, China Machine Press, Beijing, pp.12-29 (1997).
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献