Parallel Mechanisms With Bifurcation of Schoenflies Motion
Parallel Mechanisms With Bifurcation of Schoenflies Motion
复制标题
Schoenflies运动分叉并联机构
DOI：
10.1109/tro.2008.2008737
复制
发表时间：
2009-02
影响因子：
7.8
通讯作者：
Li, Qinchuan
中科院分区：
文献类型：
--
作者：
Herve, Jacques Marie;Li, Qinchuan
在过去的七年中，少自由度并联机构（PMs）的型综合在机器人研究领域引起了广泛关注。该领域的一个重要趋势是综合具有预先指定运动特性的并联机构。本文
Type synthesis of lower mobility parallel mechanisms (PMs) has attracted extensive attention in research community of robotics over the last seven years. One important trend in this area is to synthesize PMs with prespecified motion properties. This paper focuses on the type synthesis of a special family of PMs whose moving platform can undergo a bifurcation of Schoenflies motion. First, bifurcation of Schoenflies motion in PMs is interpreted in terms of displacement group theory and the basic limb bond {<b>X</b>(<b>y</b>)}{<b>R</b>(<i>N</i>, <b>x</b>)} is identified. Further, the geometric condition for constructing a PM with bifurcation of Schoenflies motion is presented. The kinematic equivalence between {<b>X</b> (<b>y</b>)}{<b>R</b>(<i>N</i>, <b>x</b>)} and {<b>X</b>(<b>y</b>)}{<b>X</b>( <b>x</b>)} is proven. Four subcategories of irreducible representation of the product { <b>X</b>(<b>y</b> )}{<b>X</b>(<b>x</b>)} are proposed and the limb chains that produce the desired limb bond are synthesized. Finally, the partitioned mobility of PMs with bifurcation of Schoenflies motion and its effect on actuation selection are discussed.
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影响因子：
2.7
作者：
F. Gao;Yong Zhang;Weimin Li
通讯作者：
F. Gao;Yong Zhang;Weimin Li
DOI：
10.1177/0278364904041562
发表时间：
2004-03
期刊：
The International Journal of Robotics Research
影响因子：
--
作者：
X. Kong;C. Gosselin
通讯作者：
X. Kong;C. Gosselin
DOI：
10.1002/rob.10099
发表时间：
2003-08
期刊：
J. Field Robotics
影响因子：
--
作者：
J. Rico;J. Gallardo-Alvarado;B. Ravani
通讯作者：
J. Rico;J. Gallardo-Alvarado;B. Ravani
DOI：
10.1007/978-1-4020-4941-5_6
发表时间：
2006
期刊：
--
影响因子：
--
作者：
P. Fanghella;C. Galletti;E. Giannotti
通讯作者：
P. Fanghella;C. Galletti;E. Giannotti
影响因子：
4.1
作者：
G. Gogu
通讯作者：
G. Gogu