Mobility Study Of Multi-Degree-Of Freedom Linkages

多自由度连杆的移动性研究

• 批准号: 9104672
• 负责人: Kwun-Lon Ting
• 金额: $ 9.54万
• 依托单位: Tennessee Technological University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-12-01 至 1993-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9104672&HistoricalAwards=false
• 关键词: Mobility; Study; Multi; Degree; Freedom

This research addresses the mobility of closed loop planar and spherical linkages. Its intent is to establish a basic theory and foundation to identify and classify link mobility and joint rotatability of single closed loop N-bar planar and spherical linkages, and therefore provide a better understanding of the potential uses and limitations of a linkage or manipulator. The results are applicable to some spatial linkages directly and to multiple loop linkages. They may also provide a geometric tool or model to understand the dexterity and geometric constraints placed on a manipulator when a temporary closed loop chain is formed.***

这项研究解决了流动性的闭环平面和 球面连杆机构 其目的是建立一个基本理论 和基础，识别和分类链路移动性和关节 单闭环N杆平面与球面的可调性 联系，从而更好地了解 联动装置或操纵器的潜在用途和限制。 的 结果适用于一些空间联系直接和 多环连接。 它们还可以提供一种几何工具 或模型来理解灵活性和几何约束 放置在操纵器上， 已形成。*