Rotation characteristic of a 3-DOF parallel mechanism with limbs of embedding structures

DOI

10.2991/ifmeita-17.2018.36How to use a DOI?

Keywords

Parallel Mechanism, Continuous Rotation, Principal Screw

Abstract

Three degrees of freedom (3-DOF) parallel mechanism (PM) with limbs of embedding structures is a PM that each limb exists common axis. This is an asymmetrical PM with a full cylinder workspace and it has two translational DOFs and one rotational DOF. In order to research the kinematics characteristic and rationally plan the motions of this PM, the rotation characteristic is studied based on screw theory. Firstly, principal screws of this PM are identified by quadric degenerating theory and the category of three-system is determined. The instantaneous kinematics is analyzed using the linear combinations of principal screws when this PM is under general configurations. Secondly, the change of the rotation of this PM under singular configuration is investigated by calculating the instantaneous DOFs. Finally, it is comprehensively analyzed that this PM maintains rotational DOF in any configurations, and can realize 360 degree continuous rotation under general configurations.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Gaowei Yang
AU  - Jianjun Zhang
AU  - Weimin Li
AU  - Kaicheng Qi
PY  - 2018/02
DA  - 2018/02
TI  - Rotation characteristic of a 3-DOF parallel mechanism with limbs of embedding structures
BT  - Proceedings of the 2nd International Forum on Management, Education and Information Technology Application (IFMEITA 2017)
PB  - Atlantis Press
SP  - 207
EP  - 214
SN  - 2352-5398
UR  - https://doi.org/10.2991/ifmeita-17.2018.36
DO  - 10.2991/ifmeita-17.2018.36
ID  - Yang2018/02
ER  -