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STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY 被引量：4

STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY
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摘要 Structural synthesis for 4-DOF parallel manipulators using screw theory issystematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulatorsaccording to the relationship between screw and reciprocal screw are analyzed. Mathematicalexpressions for constraint screws and twist screws of moving platform are constructed, and allpossible limbs, which provide one or more force constraints, are enumerated. Finally, a parallelmanipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe thesynthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators. Structural synthesis for 4-DOF parallel manipulators using screw theory issystematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulatorsaccording to the relationship between screw and reciprocal screw are analyzed. Mathematicalexpressions for constraint screws and twist screws of moving platform are constructed, and allpossible limbs, which provide one or more force constraints, are enumerated. Finally, a parallelmanipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe thesynthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators.
作者 FangHairong FangYuefa GuoSheng
机构地区 SchoolofMechanicalandElectronicControlEngineering
出处 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2004年第4期486-489,共4页 中国机械工程学报（英文版）
基金 ThisprojectissupportedbyNationalNaturalScienceFoundationofChina(No.50375001).
关键词 Screw theory ROBOT Parallel mechanisms Structure synthesis Screw theory Robot Parallel mechanisms Structure synthesis
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] O246 [理学—计算数学]
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参考文献9

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二级参考文献13

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二级引证文献26

Chinese Journal of Mechanical Engineering
2004年 第4期

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