کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
9703082 | 1463255 | 2005 | 22 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Mobility and spatiality of parallel robots revisited via theory of linear transformations
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی مکانیک
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چکیده انگلیسی
Parallel robots are extensively used for various applications including manipulation, machining, guiding, testing and control. The mechanical architecture of parallel robots is based on parallel mechanisms in which a mobile platform is connected to a reference element by at least two legs. Mobility and spatiality are the main structural and kinematic parameters of a parallel robot. These two parameters are defined via the theory of linear transformation and can be easily determined by inspection using the definitions, properties and theorems introduced in this paper. An analytical method to compute these parameters is also presented just for verification and for a better understanding of their meanings. The new formalism presented in this paper is based on spatiality of an elementary open kinematic chain and relative spatiality between two elements of a closed kinematic chain. As far as we are aware, this paper demonstrates for the first time a new formula for calculation of general (full-cycle) mobility of parallel robots that overcomes the drawbacks of Chebychev-Grübler-Kutzbach's mobility criterion largely used for mobility calculation of multi-loop mechanisms. This new formula is easily applicable to parallel robotic manipulators with elementary or complex legs and mobility calculation does not involve the setting up of instantaneous constraint systems associated to the parallel mechanism.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: European Journal of Mechanics - A/Solids - Volume 24, Issue 4, JulyâAugust 2005, Pages 690-711
Journal: European Journal of Mechanics - A/Solids - Volume 24, Issue 4, JulyâAugust 2005, Pages 690-711
نویسندگان
Grigore Gogu,