Self-Motions of TSSM Manipulators With Two Parallel Rotary Axes-Reference-Cited by-同舟云学术

Self-Motions of TSSM Manipulators With Two Parallel Rotary Axes

Published:2011-08-01 Issue:3 Volume:3 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Nawratil Georg¹

Affiliation:

1. Vienna University of Technology, Institute of Discrete Mathematics and Geometry, Wiedner Hauptstrasse 8-10/104, Vienna, A-1040, Austria e-mail:

Abstract

In this paper, we determine all nontrivial self-motions of triangular symmetric simplified manipulators (TSSMs) with two parallel rotary axes which equal the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification of these motions for the whole set of parallel manipulators of TSSM type. Our approach is based on Kokotsakis meshes and the reducible compositions of spherical coupler motions with a spherical coupler component.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4004030/5591361/031007_1.pdf

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