Abstract
In this paper, a simple and straightforward visual graphic approach for mobility and singularity analysis of mechanisms is introduced. Although the proposed method is established upon the reciprocal screw system theory, it needs no formula derivation instead knowing about a few simple rules. As a study case, mobility and singularity analysis for a class of two degrees-of-freedom (DOF) rotational parallel mechanisms i.e. well-know Omni-Wrist III with four limbs, and its two derived architectures with three limbs (named T-type and δ-type) is analyzed by the proposed method. As a result, a novel PKM derived from Omni-Wrist III is presented, which has the DOF and kinematics property close to Omni Wrist III.
| Original language | English |
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| Title of host publication | 35th Mechanisms and Robotics Conference, Parts A and B |
| Publisher | American Society of Mechanical Engineers |
| Pages | 1027-1036 |
| Number of pages | 10 |
| Volume | 6 |
| ISBN (Print) | 978-0-7918-5483-9 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Washington DC, United States Duration: 28 Aug 2011 → 31 Aug 2011 |
Conference
| Conference | ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Country/Territory | United States |
| City | Washington DC |
| Period | 28/08/11 → 31/08/11 |