Crank conditions and rotatability of 3-RRR planar parallel mechanisms

被引：0

作者：

Li, RuiQin ^{[1
]}

Dai, Jian S ^{[2
]}

机构：

[1] N Univ China, Coll Mech Engn & Automat, Taiyuan 030051, Peoples R China

[2] Kings Coll London, Dept Mech Engn, London WC2R 2LS, England

来源：

SCIENCE IN CHINA SERIES E-TECHNOLOGICAL SCIENCES | 2009年 / 52卷 / 12期

关键词：

crank; rotatability; planar parallel mechanism; BAR KINEMATIC CHAINS; ORIENTATION CAPABILITY; MANIPULATORS; WORKSPACES;

D O I：

10.1007/s11431-009-0290-2

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper investigates the rotatability of planar parallel mechanisms by revealing the crank conditions that relate to link parameters. The paper extends the theorem of assemblability and the rotatability criterion and applies these criteria to parallel mechanisms in investigating the crank conditions of a parallel mechanism, leading to classification of three types of crank existing conditions including three-crank's, six-crank's and nine-crank's of 3-RRR planar parallel mechanisms. The results are summarized as constraint conditions in relation with link parameters with a concluding table and case studies.

引用

页码：3601 / 3612

页数：12

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