contributor author | Kang, Xi | |
contributor author | Dai, Jian S. | |
date accessioned | 2019-09-18T09:05:51Z | |
date available | 2019-09-18T09:05:51Z | |
date copyright | 4/9/2019 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 1942-4302 | |
identifier other | jmr_11_3_031012 | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4258819 | |
description abstract | The 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. | |
publisher | American Society of Mechanical Engineers (ASME) | |
title | Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms | |
type | Journal Paper | |
journal volume | 11 | |
journal issue | 3 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4042629 | |
journal fristpage | 31012 | |
journal lastpage | 031012-9 | |
tree | Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 003 | |
contenttype | Fulltext | |