Structural Synthesis of Serial-Parallel Hybrid Mechanisms Via Group Theory and Representation of Logical Matrix

摘要：

This contribution presents different type of serial-parallel hybrid mechanisms by group theory and logical matrix. A novel representation and logical operation of spatial mechanisms are developed. The hybrid mechanisms can be categorized into two types, closed-type and opened-type hybrid mechanisms. According to the group theory and mobility criterion, the closed-type hybrid mechanisms can be determined by the number of moving platforms, while the opened-type hybrid mechanisms can be developed into different classes, simultaneously, the iterative formula of opened-type hybrid mechanisms is obtained. Finally, two examples of hybrid mechanisms are illustrated based on the given logical operations.

作者: Qiang Zeng Yuefa Fang

作者单位: Robotics Research Lab,School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044 PR China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 1392-1397

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）