کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
803460 904649 2009 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematics of pantograph masts
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Kinematics of pantograph masts
چکیده انگلیسی

This paper deals with the kinematics of pantograph masts. Pantograph masts have widespread use in space application as deployable structures. They are over constrained mechanisms with degree-of-freedom, evaluated by the Grübler–Kutzback formula, as less than one. In this paper, a numerical algorithm is used to evaluate the degree-of-freedom of pantograph masts by obtaining the null space of a constraint Jacobian matrix. In the process redundant joints in the masts are obtained. A method based on symbolic computation, to obtain the closed-form kinematics equations of triangular and box shaped pantograph masts, is presented. In the process, the various configurations such masts can attain during deployment, are obtained. The closed-form solution also helps in identifying the redundant joints in the masts. The symbolic computations involving the Jacobian matrix also leads to a method to evaluate the global degree-of-freedom for these masts.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 44, Issue 4, April 2009, Pages 822–834
نویسندگان
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