A New Method of Structural Synthesis about the Partly-DOF Parallel Robot Mechanisms Based on the Screw Theory

Abstract:

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In this paper, based on some disciplinarians about the configuration design of Parallel Robot Mechanisms (PRM), the theory bases was established for parallel structural configuration design by developing different types of the partly degrees of freedom (DOF) parallel configuration designs. The new method to synthesize the partly DOF parallel mechanisms, called constraint accession, is provided to the classification of kinematical chains by use of screw theory. The active kinematical chains control the necessary DOF and the passive kinematical chains control the needless ones. In this paper, the relevant active and passive kinematical chains are put forward and the constraint chains are classified in detail. It is demonstrated by an example that new configurations can be obtained by assembling different kinematical limbs.

Info:

Periodical:

Key Engineering Materials (Volumes 315-316)

Edited by:

Zhejun Yuan, Xipeng Xu, Dunwen Zuo, Julong Yuan and Yingxue Yao

Pages:

425-429

DOI:

10.4028/www.scientific.net/KEM.315-316.425

Citation:

J. M. Luo et al., "A New Method of Structural Synthesis about the Partly-DOF Parallel Robot Mechanisms Based on the Screw Theory ", Key Engineering Materials, Vols. 315-316, pp. 425-429, 2006

Online since:

July 2006

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Price:

$35.00

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