Self-Motions of TSSM Manipulators With Two Parallel Rotary Axes

被引：5
|
作者：
Nawratil, Georg [1 ]
机构：
[1] Vienna Univ Technol, Inst Discrete Math & Geometry, A-1040 Vienna, Austria
来源：
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2011年 / 3卷 / 03期
基金：
俄罗斯基础研究基金会; 奥地利科学基金会;
关键词：
TSSM; self-motion; flexible octahedra; Kokotsakis mesh; spherical coupler motion; CONFIGURATIONS;
D O I：
10.1115/1.4004030
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, we determine all nontrivial self-motions of triangular symmetric simplified manipulators (TSSMs) with two parallel rotary axes which equal the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification of these motions for the whole set of parallel manipulators of TSSM type. Our approach is based on Kokotsakis meshes and the reducible compositions of spherical coupler motions with a spherical coupler component.
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页数：10
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