Assembly mode changing in parallel mechanisms

被引：35

作者：

Bamberger, Hagay ^{[1
,2
]}

Wolf, Alon ^{[3
]}

Shoham, Moshe ^{[3
]}

机构：

[1] RAFAEL Adv Def Syst Ltd, IL-32000 Haifa, Israel

[2] Technion Israel Inst Technol, Robot Lab, IL-32000 Haifa, Israel

[3] Technion Israel Inst Technol, Fac Mech Engn, IL-32000 Haifa, Israel

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2008年 / 24卷 / 04期

关键词：

bearings (mechanical); parallel machines; polynomials; robot kinematics; singular systems; tolerance analysis;

D O I：

10.1109/TRO.2008.926863

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Parallel mechanisms usually have several direct kinematic solutions that are attributed to different assembly modes (AMs) or postures. The present investigation deals with AM changing, and shows that beside the known cusp points, it is possible to change AM by moving on a path like a ramp, while encircling an alpha-curve in the joint space. For micromechanisms, where clearances at the mechanism joints are relatively large, AM changing may also occur when approaching a direct kinematic singularity.

引用

页码：765 / 772

页数：8

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