THEORY AND APPLICATION OF SELECTING ACTUATING COMPONENTS OF SPATIAL PARALLEL MECHANISMS

Abstract

Abstract: Based on the concepts of reciprocal screws and their linear correlativity, a detecting method of input interference in a spatial parallel manipulator is presented. The first step of this method is to find the reciprocal screws reflected on the motion platform from the restrictions of the structure of the mechanism and actuating components, the second step is to detect their linear correlativity and judge the selected actuating components reasonable or not. Two new type parallel mechanisms, 3 – RRC and 4 – TRT mechanisms, are analyzed as examples finally.

Key words: Input selecting, Mechanics, Parallel manipulator, Screw theory

CLC Number:

TH113 TP24

Zhao Tieshi;Huang Zhen. THEORY AND APPLICATION OF SELECTING ACTUATING COMPONENTS OF SPATIAL PARALLEL MECHANISMS[J]. , 2000, 36(10): 81-85.

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THEORY AND APPLICATION OF SELECTING ACTUATING COMPONENTS OF SPATIAL PARALLEL MECHANISMS

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