Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

被引：16

作者：

Amine, Semaan ^{[1
]}

Mokhiamar, Ossama ^{[1
,2
]}

Caro, Stephane ^{[3
]}

机构：

[1] Beirut Arab Univ, Dept Mech Engn, POB 115020, Beirut 11072809, Lebanon

[2] Univ Alexandria, Dept Mech Engn, Alexandria 21544, Egypt

[3] CNRS, UMR 6597, Inst Rech Commun & Cybernet Nantes, 1 Rue Noe, F-44321 Nantes, France

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2017年 / 9卷 / 01期

关键词：

SINGULARITY ANALYSIS; MECHANISMS; DESIGN; ROBOT;

D O I：

10.1115/1.4035188

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a classification of 3T1R parallel manipulators (PMs) based on the wrench graph. By using the theory of reciprocal screws, the properties of the three-dimensional projective space, the wrench graph, and the superbracket decomposition of Grassmann-Cayley algebra, six typical wrench graphs for 3T1R parallel manipulators are obtained along with their singularity conditions. Furthermore, this paper shows a way in which each of the obtained typical wrench graphs can be used in order to synthesize new 3T1R parallel manipulator architectures with known singularity conditions and with an understanding of their geometrical properties and assembly conditions.

引用

页数：10

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