On the velocity analysis of non-parallel closed chain mechanisms

被引：1
|
作者：
Zoppi, Matteo [1 ]
Zlatanov, Dimiter [2 ]
Molfino, Rezia [1 ]
机构：
[1] Univ Genoa, Via Opera Pia 15A, I-16145 Genoa, Italy
[2] Univ Laval, Dept Genie Mecanique, Quebec City, PQ G1K 7P4, Canada
来源：
ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION | 2006年
关键词：
velocity analysis; parallel mechanisms; closed chain mechanisms;
D O I：
10.1007/978-1-4020-4941-5_8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In parallel-mechanisms (PMs), the passive joint velocities can be eliminated from the velocity equations by a standard screw-theory method, obtaining a system of linear input-output equations. A general method for the elimination of the passive joint velocities in non purely parallel mechanisms is not yet known. The paper addresses the problem by studying the instantaneous kinematics of two non-parallel closed-chain 4-dof mechanisms derived from a 5-dof PM. With some modifications and appropriate geometric reasoning the PM methodology can be successfully applied to the analysis of non-parallel mechanisms.
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页码：65 / +
页数：2
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