کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
805130 905090 2006 25 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms
چکیده انگلیسی

This paper treats the problems of kinematics, singularity and workspace analysis of the 5R symmetrical parallel mechanism. In the design process, the theoretical workspace cannot be used directly due to the inside singularity. The inverse and forward kinematic solutions determine the working and assembly modes of a mechanism. With different modes, a mechanism will have different singular loci and workspaces. In this paper, the singularity and usable workspace without singularity inside will be determined for the mechanism with a specified mode. A concept, the maximal inscribed workspace (MIW) that is bounded by the maximal inscribed circle (MIC), is defined to characterize the workspace performance. A non-dimensional design space is established to investigate the singular loci and workspace shape of the mechanisms, systematically. The atlas of the MIC radius is presented. Based on the obtained distribution charts of the singularity and workspace shape and the atlas, one can know the singularity and workspace performances of any one of the 5R symmetrical parallel mechanisms. The result, especially that of the MIW, of this paper is very useful for the optimum design of the mechanism.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 41, Issue 2, February 2006, Pages 145–169
نویسندگان
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