Mobility analysis of a 3-5R parallel mechanism family

Author

Li, Qinchuan ; Huang, Zhen

Author_Institution

Robotics Res. Center, Yanshan Univ., Hebei, China

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1887

Abstract

Mobility analysis of a 3-5R parallel mechanism family whose limb consists of a 2R and a 3R parallel subchains is performed by the aid of screw theory. A mobility criterion applicable to such 3-leg parallel mechanisms in which each kinemaic chain contains five kinematic pairs is proposed. It is shown that under different structural conditions, the 3-5R parallel mechanism can have 3, 4, or 5 DOF (degrees of freedom). The structural conditions which guarantee the full-cycle mobility are analyzed. The analysis and the method presented in this paper will be helpful in using such a 3-5R parallel mechanism family and introduce new insights into the mobility analysis of parallel mechanisms.

Keywords

algebra; legged locomotion; manipulator kinematics; 2R parallel subchains; 3 DOF; 3 leg parallel mechanisms; 3-5R parallel mechanism; 3R parallel subchains; 4 DOF; 5 DOF; algebra; degrees of freedom; fullcycle mobility; kinemaic chain; kinematic pairs; legged locomotion; mobility analysis; screw theory; Constraint theory; Fasteners; Kinematics; Manipulators; Materials handling; Mobile robots; Parallel robots; Performance analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241870

Filename

1241870