DocumentCode
3352068
Title
Type synthesis of instantaneous motion-free 2R1T parallel mechanism by IMGA method
Author
Fan, Zhang ; Jian-guo, Yang
Author_Institution
Eng. Training Center, Shanghai Univ. of Eng. Sci., Shanghai, China
fYear
2010
fDate
26-28 June 2010
Firstpage
2440
Lastpage
2443
Abstract
This paper presents a novel simple method, IMGA, to solve the instantaneous motion problem of parallel mechanism. Based on the geometric regularity between constraints and motion of rigid body, IMGA method can be used to judge all the feasible instantaneous motion of parallel mechanism, and the type synthesis of instantaneous motion-free parallel mechanism. Based on the 3-PRS parallel mechanism, two novel instantaneous motion-free two translational and one rotational DOF parallel mechanisms are obtained.
Keywords
geometry; manipulators; motion compensation; IMGA method; geometric regularity; instantaneous motion-free 2R1T parallel mechanism; rigid body; type synthesis; Educational institutions; Eigenvalues and eigenfunctions; Fasteners; Kinematics; Leg; Mechanical engineering; Motion analysis; Parallel mechanism; instantaneous motion; screw theory; type synthesis;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5535792
Filename
5535792
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