Mobility analysis of a novel 3-5R parallel mechanism family

被引：28

作者：

Li, QC ^{[1
]}

Huang, Z ^{[1
]}

机构：

[1] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

来源：

JOURNAL OF MECHANICAL DESIGN | 2004年 / 126卷 / 01期

关键词：

D O I：

10.1115/1.1637651

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Mobility analysis of a novel 3-5R parallel mechanism family whose limb consists of a 2R and a 3R parallel subchain is performed by the aid of screw theory. A mobility criterion applicable to such 3-leg parallel mechanisms in which each kinematic chain contains five kinematic pairs is proposed. It is shown that under different structural conditions, the 3-5R parallel mechanism can have 3, 4, or 5 DOF (degrees of freedom). The structural conditions that guarantee the full-cycle mobility are analyzed. The analysis and the method presented in this paper will be helpful in using such a 3-5R parallel mechanism family and introduce new insights into the mobility analysis of parallel mechanisms.

引用

页码：79 / 82

页数：4

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