Mobility analysis of parallel mechanisms based on screw theory and mechanism topology
A practical method for mobility analysis of mechanisms is presented in this article, which is based on the screw theory and the topology structure of mechanisms. The proposed method can be summarized as one core principle and two key techniques. The core principle is that the series connection of ki...
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Published in | Advances in mechanical engineering Vol. 7; no. 11; p. 1 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
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London, England
SAGE Publications
01.11.2015
Sage Publications Ltd SAGE Publishing |
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Abstract | A practical method for mobility analysis of mechanisms is presented in this article, which is based on the screw theory and the topology structure of mechanisms. The proposed method can be summarized as one core principle and two key techniques. The core principle is that the series connection of kinematic pairs is equivalent to the superposition of corresponding degrees of freedom, and the parallel connection of kinematic pairs is equivalent to the superposition of corresponding constraints. The first key technique for analyzing the mobility of mechanisms is to correctly identify the series and parallel connection relationship between all kinematic pairs, that is, the mechanism topology structure. Another key technique is transforming the screws and reciprocal screws from local coordinate systems to the global coordinate system. First, the above-mentioned method is presented in theory. Then, several examples are analyzed using it, which validate its effectiveness and universality. |
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AbstractList | A practical method for mobility analysis of mechanisms is presented in this article, which is based on the screw theory and the topology structure of mechanisms. The proposed method can be summarized as one core principle and two key techniques. The core principle is that the series connection of kinematic pairs is equivalent to the superposition of corresponding degrees of freedom, and the parallel connection of kinematic pairs is equivalent to the superposition of corresponding constraints. The first key technique for analyzing the mobility of mechanisms is to correctly identify the series and parallel connection relationship between all kinematic pairs, that is, the mechanism topology structure. Another key technique is transforming the screws and reciprocal screws from local coordinate systems to the global coordinate system. First, the above-mentioned method is presented in theory. Then, several examples are analyzed using it, which validate its effectiveness and universality. |
Author | Xu, Huayang Wang, Liping Guan, Liwen |
Author_xml | – sequence: 1 givenname: Liping surname: Wang fullname: Wang, Liping organization: Department of Mechanical Engineering, Tsinghua University, Beijing, China – sequence: 2 givenname: Huayang surname: Xu fullname: Xu, Huayang organization: Department of Mechanical Engineering, Tsinghua University, Beijing, China – sequence: 3 givenname: Liwen surname: Guan fullname: Guan, Liwen email: guanlw@mail.tsinghua.edu.cn organization: Department of Mechanical Engineering, Tsinghua University, Beijing, China |
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Cites_doi | 10.1016/j.rcim.2011.10.003 10.1016/j.mechmachtheory.2004.12.006 10.1007/s00170-003-1705-z 10.1115/1.1315299 10.1109/TRO.2010.2047528 10.1016/j.mechmachtheory.2003.12.005 10.1007/s11431-008-0219-1 10.1115/1.1901708 10.1007/978-94-007-4201-7 10.1016/j.mechmachtheory.2004.12.014 10.1007/978-1-84800-147-3_3 |
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Keywords | screw theory parallel mechanism reciprocal screw Mobility analysis mechanism topology |
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References | Schimt 2000; 122 2003; 38 Wenger, Chablat 2005; 40 Grübler 1883; 29 Dai, Huang, Lipkin 2006; 128 Xie, Liu, Wang 2012; 28 Huang, Liu, Zeng 2009; 52 Zhao, Zhou, Mao 2004; 23 Zhao, Zhou, Feng 2004; 39 Gogu 2005; 40 Li, Herve 2010; 26 Kutzbach 1929; 8 Zhao JS (bibr13-1687814015610467) 2013 Murray RM (bibr14-1687814015610467) 1994 Kutzbach K (bibr3-1687814015610467) 1929; 8 Hunt KH (bibr7-1687814015610467) 1978 Suh CH (bibr4-1687814015610467) 1978 bibr9-1687814015610467 bibr18-1687814015610467 bibr5-1687814015610467 bibr10-1687814015610467 bibr16-1687814015610467 Grübler M (bibr2-1687814015610467) 1883; 29 bibr12-1687814015610467 Waldron KJ (bibr8-1687814015610467) 1999 IFToMM Commission A (bibr1-1687814015610467) 2003; 38 bibr20-1687814015610467 bibr17-1687814015610467 bibr19-1687814015610467 bibr6-1687814015610467 bibr11-1687814015610467 Dai JS (bibr15-1687814015610467) 2014 |
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SubjectTerms | Degrees of freedom Equivalence Kinematics Mathematical analysis Mechanical engineering Screws Topology |
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Title | Mobility analysis of parallel mechanisms based on screw theory and mechanism topology |
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