Synthesis of spatial parallel mechanisms with initial conditions using line geometry

被引：8

作者：

Eberharter, Johannes K. ^{[1
]}

机构：

[1] Univ Calif Davis, Dept Math, Davis, CA 95616 USA

来源：

MECHANISM AND MACHINE THEORY | 2007年 / 42卷 / 10期

关键词：

spatial parallel mechanism; spatial mechanism synthesis; linear line complex; spatial Burmester mechanism;

D O I：

10.1016/j.mechmachtheory.2006.11.006

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper we describe a coordinate-independent method for synthesis of a spatial parallel mechanism. The mechanism consists of a platform, a base, and five legs connecting the base and platform with spherical joints. The objective is to find the positions of the base anchor points and leg lengths for two arbitrary platform positions and their desired instantaneous motions. A unique solution will be presented that applies the linear line complex, a tool from line geometry. Potential applications that may benefit from this research include a five-link independent suspension system (wheel multilink suspension system for automobiles) and spatial mechanisms used in manufacturing. The algorithm and a numerical example will be discussed. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：1289 / 1297

页数：9