Computational derivation of valid kinematic limbs of spatial 3-dof parallel mechanisms without redundant constraint
作者： Yi Lu , Yang Lu , Ling Ding , Nijia Ye
DOI: 10.1017/S0263574711000786
关键词:
摘要: A computational derivation of valid kinematic limbs for spatial 3-DOF parallel mechanisms (PMs) without redundant constraint is studied based on contracted graphs, topological and basic joints. First, some graphs any binary links are constructed, curves with only distributed over many derived. Second, a software developed in Visual Basic deriving the limb, chain structures constructed by connecting various joints series. Third, all PMs derived computationally from novel synthesized using this approach. Finally, number different determined limb.
sci-hub.se 参考文章(30)
JM Hervé, The Lie group of rigid body displacements, a fundamental tool for mechanism design Mechanism and Machine Theory. ,vol. 34, pp. 719- 730 ,(1999) , 10.1016/S0094-114X(98)00051-2
Xiaoyu Wang, Luc Baron, Guy Cloutier, Topological and Geometrical Synthesis of Three-Degree-of-Freedom Fully Parallel Manipulators by Instantaneous Kinematics Journal of Mechanical Design. ,vol. 130, pp. 032301- ,(2008) , 10.1115/1.2829891
Qiong Jin, Ting-Li Yang, Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators Journal of Mechanical Design. ,vol. 126, pp. 625- 639 ,(2004) , 10.1115/1.1758253
B Hu, Y Lu, Analyses of kinematics, statics, and workspace of a 3-RRPRR parallel manipulator and its three isomeric mechanisms Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. ,vol. 222, pp. 1829- 1837 ,(2008) , 10.1243/09544062JMES928
Bo Hu, JianPing Yu, Yi Lu, Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator Multibody System Dynamics. ,vol. 21, pp. 361- 374 ,(2009) , 10.1007/S11044-009-9145-7
Y Lu, B Hu, Analysis of kinematics and solution of active/constrained forces of asymmetric 2UPU+X parallel manipulators Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. ,vol. 220, pp. 1819- 1830 ,(2006) , 10.1243/0954406JMES397
Lung-Wen Tsai, Sameer Joshi, Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator Journal of Mechanical Design. ,vol. 122, pp. 439- 446 ,(2000) , 10.1115/1.1311612
Tarcisio A. Hess-Coelho, Topological Synthesis of a Parallel Wrist Mechanism Journal of Mechanical Design. ,vol. 128, pp. 230- 235 ,(2004) , 10.1115/1.2121742
Han Sung Kim, Lung-Wen Tsai, Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator Journal of Mechanical Design. ,vol. 125, pp. 92- 97 ,(2003) , 10.1115/1.1539505
Yi Lu, Bo Hu, Ping-Li Liu, Kinematics and dynamics analyses of a parallel manipulator with three active legs and one passive leg by a virtual serial mechanism Multibody System Dynamics. ,vol. 17, pp. 229- 241 ,(2007) , 10.1007/S11044-006-9032-4