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contributor authorTing-Li Yang
contributor authorDong-Jin Sun
date accessioned2017-05-09T00:53:28Z
date available2017-05-09T00:53:28Z
date copyrightFebruary, 2012
date issued2012
identifier issn1942-4302
identifier otherJMROA6-28019#011001_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/149893
description abstractBased on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree of freedom (DOF) formula which is totally different from approaches based on the screw theory and the displacement group. It can be used to determine the full-cycle DOF of parallel mechanisms (PMs) and multiloop spatial mechanisms using symbolic “union” and “intersection” operations for POC sets. These operations involve only several rules and only simple mathematical tools (vector algebra, theory of sets, etc.) are used. Furthermore, criteria for determination of the inactive joints and selection of the actuating joints are proposed. The presented approach is illustrated with several examples.
publisherThe American Society of Mechanical Engineers (ASME)
titleA General Degree of Freedom Formula for Parallel Mechanisms and Multiloop Spatial Mechanisms
typeJournal Paper
journal volume4
journal issue1
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4005526
journal fristpage11001
identifier eissn1942-4310
treeJournal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 001
contenttypeFulltext


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