Finite Motion Analysis of Four-revolute Closed-loop Mechanisms Applied in Industrial Robots and Origami Structures
The four-revolute(4R)closed-loop mechanisms may be the simplest and most widely applied closed-loop mechanisms.According to the arrangement of joint axes,there are three kinds in terms of planar parallelogram mechanism(Pa4R),spherical quadrilateral mechanism(Sp4R)and spatial Bennett mechanism(Be4R).These 4R mechanisms are important structure units of many famous mechanisms,such as Delta industrial robot,spherical robotic wrist,Goldberg 5R linkage and deployable origami.From a theoretical kinematics view point,finite motion analysis of 4R mechanisms is the prerequisite to do their type synthesis and kinematic analysis.However,the existing methods can only formulate finite motion model for each kind of 4R mechanisms case by case.And the algebraic mapping between axis directions and angles of the output rotation cannot be revealed,which brings difficulties to finite motion modeling,analysis and type synthesis of the mechanisms consisting of 4R mechanisms.Based upon finite screw theory,this paper proposes an analytical and unified approach to modeling and analyzing finite motions of the three kinds of 4R mechanisms with parallel,intersecting and skew axes.Utilizing the finite motion expressions obtained in this paper directly,the finite motion analysis of typical Goldberg 5R linkage is exampled in this paper.
Theoretical kinematics 4R closed-loop mechanisms Industrial robots Origami Finite motion analysis Finite screw
Tao Sun Shuofei Yang
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University, The Department of Industrial and Systems Engineering,The Hong Kong Polytechnic University,Hong Kong,
国内会议
北京
英文
167-182
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）