| contributor author | Ketao Zhang | |
| contributor author | Yuefa Fang | |
| contributor author | Jian S. Dai | |
| contributor author | Hairong Fang | |
| date accessioned | 2017-05-09T00:39:53Z | |
| date available | 2017-05-09T00:39:53Z | |
| date copyright | August, 2010 | |
| date issued | 2010 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27999#031014_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/144326 | |
| description abstract | This paper presents a three-spherical kinematic chain based parallel mechanism that evolved from an origami fold. The new parallel mechanism with symmetrical structure consists of a base, a platform, and three-spherical six-bar chains as chain-legs connecting to both base and platform via revolute joints. This paper investigates the constraint of the mechanism by constructing a virtual symmetric plane that is based on the three virtual centers of the spherical chains. Revealing the geometric characteristics and constraint disposition of the constraint screw system, singularity is identified related to the constraint configuration based on Grassmann line geometry and dependency of the constraint screw system, leading to selection of the design parameters that avoid the platform singularity. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism | |
| type | Journal Paper | |
| journal volume | 2 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4001783 | |
| journal fristpage | 31014 | |
| identifier eissn | 1942-4310 | |
| keywords | Screws | |
| keywords | Chain | |
| keywords | Parallel mechanisms AND Geometry | |
| tree | Journal of Mechanisms and Robotics:;2010:;volume( 002 ):;issue: 003 | |
| contenttype | Fulltext | |
