Discriminant method for the mobility identification of single degree-of-freedom double-loop linkages
Discriminant method for the mobility identification of single degree-of-freedom double-loop linkages
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DOI：
10.1016/j.mechmachtheory.2009.12.004
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发表时间：
2010-05
影响因子：
5.2
通讯作者：
Jun Wang;K. Ting;Changyu Xue
中科院分区：
文献类型：
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作者：
Jun Wang;K. Ting;Changyu Xue
本文首次成功地将判别方法推广到非双峰连杆机构的可动性分析中。奇异性条件和关节旋转空间的表达和识别的判别函数。该方法是代数的，判别函数是根据连杆机构位移分析所必需的方程的形式导出的。因此，其适用性不受接头类型或连杆机构的物理外观的限制。它适用于任何单自由度的平面和球面双环连杆机构，无论选择的输入，输出，或固定链接。它也适用于具有类似位移方程形式的空间连杆机构。该方法是理想的自动迁移率整流，并证明与单自由度平面六杆机构。
This paper presents the first successful attempt that extends the discriminant method to the mobility analysis of non-bimodal linkages. The singularity condition and the joint rotation space are expressed and identified by the discriminant functions. The method is algebraic and the discriminant function is derived based on the form of equations essential for the displacement analysis of the linkage. Therefore, its applicability is not restricted by the type of joints or the physical appearance of the linkage. It is applicable to any single degree-of-freedom planar and spherical double-loop linkages regardless the choice of the input, output, or fixed link. It is also applicable to spatial linkages with the similar displacement equation form. The method is ideal for automated mobility rectification and is demonstrated with single-DOF planar six-bar linkages.