Axode characteristic of 4-4R parallel pointing mechanism

Zhixiang Duan, Jingjun Yu, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Axodes of a spatial mechanism can reveal plenty of information about its motion characteristic. Through the research of the axodes, the mechanism's motion patterns can be more intuitively understood, which provides lots of help to exploring its further application. However, compared with one-DOF (degree of freedom) spatial mechanism, the research on axodes of multi-DOF PMs (parallel mechanisms) is scarce. Thus, this paper mainly investigates the axodes of a typical 2-DOF rotational PM, i.e.The 4-4R pointing mechanism, also called as Omni Wrist III, and further discloses its distinctive rolling characteristics. The final objective is to extend the application of the 4-4R pointing mechanism based on its axode characteristic. For this purpose, a rapid graphic-based algorithm for calculating the fixed and moving axodes of the 4-4R pointing mechanism is presented considering its particular geometrical arrangement. Based on the algorithm and further axode analysis, three special motion patterns existing in the mechanism, i.e. pure conical rolling, pure cylindrical rolling and pure spherical rolling, are disclosed. According to its axodes characteristic, the application of the 4-4R pointing mechanism can be extended to design of new spherical gears and constant-velocity couplings, etc.

Original languageEnglish
Title of host publicationASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791857144
DOIs
Publication statusPublished - 2015
Event39th Mechanisms and Robotics Conference 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Publication series

NameASME Proceedings
PublisherAmerican Society of Mechanical Engineers
Volume5c

Conference

Conference39th Mechanisms and Robotics Conference 2015
CountryUnited States
CityBoston
Period2/08/155/08/15

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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  • Cite this

    Duan, Z., Yu, J., & Kong, X. (2015). Axode characteristic of 4-4R parallel pointing mechanism. In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference [DETC2015-46839] (ASME Proceedings; Vol. 5c). American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2015-46839