SCREW SYSTEM ANALYSIS OF PARALLEL MECHANISMS AND APPLICATIONS TO CONSTRAINT AND MOBILITY STUDY

机译：并联机构的螺杆系统分析及其在约束性和运动性研究中的应用

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The Kutzbach-Gruebler mobility criterion calculates the degrees-of-freedom of a general mechanism. However, the criterion can break down for mechanisms with special geometries, and in particular, the class of so-called overconstrained mechanisms. The problem is that the criterion treats all constraints as active, even redundant constraints, which do not affect the mechanism degrees-of-freedom. This paper examines the screw systems of a parallel mechanism to identify the redundant constraints. The screw system characteristics and relationships are then investigated for physical properties. Then a new approach to mobility analysis is proposed based on screw system decompositions. A new version of the mobility criterion is presented to eliminate the redundant constraints and correctly predict the platform degrees-of-freedom. Several examples of overconstrained mechanisms from the literature illustrate the results.

机译：Kutzbach-Gruebler迁移率准则计算通用机构的自由度。但是，对于具有特殊几何形状的机制，尤其是所谓的过度约束机制，该标准可能会失效。问题在于该标准将所有约束视为活动的甚至冗余的约束，它们不会影响机制的自由度。本文研究了并联机构的螺杆系统，以确定冗余约束。然后研究螺杆系统的特性和关系的物理特性。然后提出了一种基于螺旋系统分解的迁移率分析新方法。提出了一种新版本的移动性标准，以消除冗余约束并正确预测平台的自由度。来自文献的过度约束机制的几个示例说明了结果。

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来源
《American Society of Mechanical Engineers(ASME) Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2004(DETC 2004) vol.2 pt B: Biennial Mechanisms and Robotics Conference; 20040928-1002; Salt Lake City,UT(US)》|2004年|P.1569-1582|共14页
会议地点 Salt Lake CityUT(US)
作者
Jian S. Dai; Zhen Huang; Harvey Lipkin;
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作者单位

Department of Mechanical Engineering, School of Physical Sciences and Engineering King's College London, University of London, Strand, London, WC2R 2LS, United Kingdom;

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会议组织
原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
mobility; parallel mechanisms; screws; multisets; virtual constraints;

机译：移动性;并行机制;螺钉;多组;虚拟约束;

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1. Mobility analysis of parallel mechanisms based on screw theory and mechanism topology: [J] . Liping Wang, Huayang Xu, Liwen Guan Advances in Mechanical Engineering . 2015,第11期

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2. Equivalence relation and partial ordering of parallel mechanisms with applications to mechanism synthesis and mobility analysis [J] . WU YuanQing, DING Han 中国科学通报：英文版 . 2010,第016期

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3. Unified Singularity Modeling and Reconfiguration of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws: [J] . Yufeng Zhuang, Dongming Gan Advances in Mechanical Engineering . 2015,第2期

机译：带有并行约束螺钉的3rTPS变形并行机制的统一奇异性建模和重新配置：
4. SCREW SYSTEM ANALYSIS OF PARALLEL MECHANISMS AND APPLICATIONS TO CONSTRAINT AND MOBILITY STUDY [C] . Jian S. Dai, Zhen Huang, Harvey Lipkin, ASME Design Engineering Technical Conferences . 2004

机译：并联机构和应用对约束和移动性研究的螺旋系统分析
5. Method for the optimal dimensional synthesis of multibody systems with dynamic constraints. Application to planar mechanisms design (Spanish text). [D] . Gomez Cristobal, Jose Antonio. 2003

机译：具有动态约束的多体系统最优尺寸合成的方法。在平面机构设计中的应用（西班牙语）。
6. Error Analysis and Experimental Study of a Bi-Planar Parallel Mechanism in a Pedicle Screw Robot System [O] . Qingjuan Duan, Zhijiang Du, Hongjian Yu, 2016

机译：椎弓根螺钉机器人系统中双平面并联机构的误差分析与实验研究
7. Mobility analysis of parallel mechanisms based on screw theory and mechanism topology [O] . Liping Wang, Huayang Xu, Liwen Guan 2015

机译：基于螺旋理论和机构拓扑的并联机构运动分析

SCREW SYSTEM ANALYSIS OF PARALLEL MECHANISMS AND APPLICATIONS TO CONSTRAINT AND MOBILITY STUDY

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