The equations determining a resultant screw of two given screws are applied to the studies on gearing and meshing theories. A kinematical classification is proposed and meanwhile proof is given to the First Theorem of...The equations determining a resultant screw of two given screws are applied to the studies on gearing and meshing theories. A kinematical classification is proposed and meanwhile proof is given to the First Theorem of Gearing and Willis Theorem.展开更多
One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is ...One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.展开更多
文摘The equations determining a resultant screw of two given screws are applied to the studies on gearing and meshing theories. A kinematical classification is proposed and meanwhile proof is given to the First Theorem of Gearing and Willis Theorem.
基金Supported by the National High Technology Research and Development Programme of China(No.SS2012AA041604)
文摘One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.