Mobility Analysis of Parallel Mechanisms Using Screw Theory

被引：0

作者：

Antonov, A. V. ^{[1
]}

Fomin, A. S. ^{[1
]}

机构：

[1] Russian Acad Sci, Mech Engn Res Inst, Moscow, Russia

来源：

JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2022年 / 51卷 / 07期

基金：

俄罗斯科学基金会;

关键词：

parallel mechanism; degree-of-freedom; screw theory; mobility analysis; structural analysis; line variety;

D O I：

10.3103/S1052618822070044

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper presents an algorithm for the mobility analysis (structural analysis) of parallel mechanisms using screw theory. The proposed algorithm is demonstrated on the combined mechanisms designed from planar and spatial kinematic chains. The paper considers several cases when the mechanisms include various types of chains providing them with a different number of degrees-of-freedom. The mobility of the investigated mechanisms is justified considering the joint axes arrangement.

引用

页码：591 / 600

页数：10

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