Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism

被引：3

作者：

Gan, D. M. ^{[1
]}

Dai, J. S. ^{[1
]}

Caldwell, D. C. ^{[1
]}

机构：

[1] Italian Inst Technol, Genoa, Italy

来源：

ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年

关键词：

Parallel mechanism; limb arrangement; synthesis; constraint screw; MANIPULATORS; MOBILITY;

D O I：

10.1007/978-90-481-9262-5_52

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents various limb arrangements of a 3-PUP parallel mechanism constructed by special PUP limbs. The constraints of the PUP limb are studied using reciprocal screws, which are used to describe the platform constraint system of the 3-PUP parallel mechanism that is divided into a torque and a force constraint set. By analyzing the system orders of the two sets to arrange the constraint screws in the three dimensional space, different types of constraint systems are defined, leading to various limb arrangements of the 3-PUP parallel mechanism corresponding to these constraint systems and their instantaneous mobility is given accordingly.

引用

页码：485 / 492

页数：8

共 20 条

[1]

[Anonymous], 2000, TREATISE THEORY SCRE

[2]

[Anonymous], 1978, Kinematic Geometry of Mechanisms

[3] Singularity analysis of 3-DOF planar parallel mechanisms via screw theory [J].