A Family of Symmetrical Lower‐Mobility Parallel Mechanisms with Spherical and Parallel Subchains

Wiley - Tập 20 Số 6 - Trang 297-305 - 2003
Q. C. Li1, Zhen Huang1
1Robotics Research Center, Yanshan University, Qinhuangdao Hebei, Peoples Republic of China, 066004

Tóm tắt

AbstractThis paper presents a new family of symmetrical lower‐mobility parallel mechanisms (PMs) with spherical and parallel subchains, which consists of two 5‐DOF (degrees of freedom) PMs, one 4‐DOF PM and five 3‐DOF PMs. The basic feature of this family is that each limb consists of five revolute pairs and can be constructed with two subchains, a 2R pointing subchain and a 3R parallel subchain, or a 3R spherical subchain and a 2R parallel subchain. Different geometrical arrangements of the limbs lead to different degrees of freedom. All the PMs of this family can be modularized easily due to the simple structure of the subchains. © 2003 Wiley Periodicals, Inc.

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Wiley

Tập 20 Số 6

297-305

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