| STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY |
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| 作者姓名： | Fang Hairong Fang Yuefa Guo ShengSchool of Mechanical and ElectronicControl Engineering Beijing Jiaotong University Beijing China |
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| 作者单位： | Fang Hairong Fang Yuefa Guo ShengSchool of Mechanical and ElectronicControl Engineering，Beijing Jiaotong University，Beijing 100044，China |
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| 基金项目： | ThisprojectissupportedbyNationalNaturalScienceFoundationofChina(No.50375001). |
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| 摘 要： | Structural synthesis for 4-DOF parallel manipulators using screw theory is systematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulators according to the relationship between screw and reciprocal screw are analyzed. Mathematical expressions for constraint screws and twist screws of moving platform are constructed, and all possible limbs, which provide one or more force constraints, are enumerated. Finally, a parallel manipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators.
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| 关 键 词： | 结构合成 4-DOF 平行机构 机器人 螺旋体 |
STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY |
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| Fang Hairong Fang Yuefa Guo ShengSchool of Mechanical and ElectronicControl Engineering,Beijing Jiaotong University,Beijing ,China.STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY[J].Chinese Journal of Mechanical Engineering,2004,17(4):486-489. |
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| Authors: | FangHairong FangYuefa GuoSheng |
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| Affiliation: | SchoolofMechanicalandElectronicControlEngineering,BeijingJiaotongUniversity,Beijing100044,China |
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| Abstract: | Structural synthesis for 4-DOF parallel manipulators using screw theory is systematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulators according to the relationship between screw and reciprocal screw are analyzed. Mathematical expressions for constraint screws and twist screws of moving platform are constructed, and all possible limbs, which provide one or more force constraints, are enumerated. Finally, a parallel manipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators. |
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| Keywords: | Screw theory Robot Parallel mechanisms Structure synthesis |
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