期刊
MECHANISM AND MACHINE THEORY
卷 96, 期 -, 页码 323-333出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2015.04.019
关键词
Parallel mechanism; Multi-mode parallel mechanism; Reconfigurable mechanism; Type synthesis; Screw theory; Lockable joint
资金
- Engineering and Physical Sciences Research Council (EPSRC), United Kingdom [EP/I016333/1, EP/K018345/1]
- Engineering and Physical Sciences Research Council [EP/I016333/1, EP/K018345/1] Funding Source: researchfish
- EPSRC [EP/I016333/1, EP/K018345/1] Funding Source: UKRI
A 3-DOF (degrees-of-freedom) multi-mode translational/spherical PM (parallel mechanism) with lockable joints is a novel reconfigurable PM. It has both 3-DOF spatial translational operation mode and 3-DOF spherical operation mode. This paper presents an approach to the type synthesis of translational/spherical PMs with lockable joints. Using the proposed approach, several 3-DOF translational/spherical PMs are obtained. It is found that these translational/spherical PMs do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. The approach can also be used for synthesizing other classes of multi-mode PMs with lockable joints, multi-mode PMs with variable kinematic joints, partially decoupled PMs, and reconfigurable PMs with a reconfigurable platform. (C) 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据