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contributor authorKang, Xi
contributor authorDai, Jian S.
date accessioned2019-09-18T09:05:51Z
date available2019-09-18T09:05:51Z
date copyright4/9/2019 12:00:00 AM
date issued2019
identifier issn1942-4302
identifier otherjmr_11_3_031012
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4258819
description abstractThe parallel mechanism with a reconfigurable platform retains all advantages of parallel mechanisms and provides additional functions by virtue of the reconfigurable platform, leading to kinematic coupling between limbs that restricts development of the mechanism. This paper aims at dealing with kinematic coupling between limbs by investigating the transferability of limb constraints and their degrees of relevance to the platform constraints based on the geometric model of the mechanism. The paper applies screw-system theory to verifying the degree of relevance between limb constraint wrenches and platform constraint wrenches, and reveals the transferability of limb constraints, to obtain the final resultant wrenches and twists of the end effector. The proposed method is extended to parallel mechanisms with planar n-bar reconfigurable platforms, spherical n-bar reconfigurable platforms, and other spatial reconfigurable platforms and lends itself to a way of studying a parallel mechanism with a reconfigurable platform.
publisherAmerican Society of Mechanical Engineers (ASME)
titleRelevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms
typeJournal Paper
journal volume11
journal issue3
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4042629
journal fristpage31012
journal lastpage031012-9
treeJournal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 003
contenttypeFulltext


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