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A finite screw approach to type synthesis of three-DOF translational parallel mechanisms
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Yang, Shuofei, Sun, Tao, Huang, Tian, Li, Qinchuan and Gu, Dongbing (2016) A finite screw approach to type synthesis of three-DOF translational parallel mechanisms. Mechanism and Machine Theory, 104 . pp. 405-419. doi:10.1016/j.mechmachtheory.2016.02.018 ISSN 0094-114X.
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WRAP_9974528-engineering-121116-a_finite_screw_approach_to_type_synthesis_of_three-dof_translational_parallel_mechanisms-mmt-2016.pdf - Accepted Version - Requires a PDF viewer. Download (720Kb) |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2016.02...
Abstract
This paper for the first time presents a finite screw approach to type synthesis of three-degree-of-freedom (DOF) translational parallel mechanisms (TPMs). Firstly, the finite motions of a rigid body, a TPM and its limbs are described by finite screws. Secondly, given the standard form of a limb with the specified DOF, the analytical expressions of the finite screw attributed to the limb are derived using the properties of screw triangle product, resulting in a full set of the 3-, 4- and 5-DOF limbs that can readily be used for determining all the potential topological structures of TPMs. Finally, the assembly conditions for type synthesis of TPMs are proposed by taking into account the inclusive relationship between the finite motions of a TPM and those of its limbs. The merit of this approach lies in that the limb structures can be formulated in a justifiable manner that naturally ensures the full cycle finite motion pattern specified to the moving platform.
Item Type: | Journal Article | ||||||||||
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Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||
Library of Congress Subject Headings (LCSH): | Robotics | ||||||||||
Journal or Publication Title: | Mechanism and Machine Theory | ||||||||||
Publisher: | Pergamon-Elsevier Science Ltd. | ||||||||||
ISSN: | 0094-114X | ||||||||||
Official Date: | October 2016 | ||||||||||
Dates: |
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Volume: | 104 | ||||||||||
Page Range: | pp. 405-419 | ||||||||||
DOI: | 10.1016/j.mechmachtheory.2016.02.018 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Date of first compliant deposit: | 14 November 2016 | ||||||||||
Date of first compliant Open Access: | 26 May 2017 | ||||||||||
Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC) | ||||||||||
Grant number: | 51135008, 51205278 |
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