Mobility and Singularity Analysis of a Class of 2-DOF Rotational Parallel Mechanisms Using a Visual Graphic Approach
Mobility and Singularity Analysis of a Class of 2-DOF Rotational Parallel Mechanisms Using a Visual Graphic Approach
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DOI：
10.1115/detc2011-48274
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发表时间：
2011
期刊：
影响因子：
4.6
通讯作者：
J. Yu;Xin Dong;X. Pei;G. Zong;X. Kong;Qunxian Qiu
中科院分区：
文献类型：
--
作者：
J. Yu;Xin Dong;X. Pei;G. Zong;X. Kong;Qunxian Qiu
本文介绍了一种简单直观的机构可动性和奇异性分析的图解法。该方法虽然是建立在倒螺旋系统理论的基础上，但它不需要公式推导，只需要知道一些简单的规则。作为研究案例，对一类两自由度转动并联机构--Omni-Wrist III型四肢机构及其两种衍生型三肢机构（T型和δ型）进行了自由度和奇异性分析。因此，提出了一种基于Omni-Wrist III的新型并联机床，其自由度和运动学特性接近Omni-Wrist III。Copyright © 2011 by ASME
In this paper, a simple and straightforward visual graphic approach for mobility and singularity analysis of mechanisms is introduced. Although the proposed method is established upon the reciprocal screw system theory, it needs no formula derivation instead knowing about a few simple rules. As a study case, mobility and singularity analysis for a class of two degrees-of-freedom (DOF) rotational parallel mechanisms i.e. well-know Omni-Wrist III with four limbs, and its two derived architectures with three limbs (named T-type and δ-type) is analyzed by the proposed method. As a result, a novel PKM derived from Omni-Wrist III is presented, which has the DOF and kinematics property close to Omni Wrist III.Copyright © 2011 by ASME