Forward Displacement Analysis of two Foldable 3US Parallel Mechanisms
This paper investigates the foldability and the forward kinematics of the 3US parallel mechanisms. Based on the opportune arrangements of the Hooke joints axes, two foldable configurations with anticlockwise folding and clockwise deploying motion are presented. The forward kinematics of two configurations are analyzed which lead to the position expressions of the platform center and the orientation of the platform. The displacement expressions of two configurations are further compared. Moreover, the foldable configurations with clockwise folding and anticlockwise deploying motion are indicated to derive by mirroring the revolution axes of the Hooke joints associated with the base in each limb.
Foldability Parallel mechanisms Kinematics Hooke joint arrangement
Yun Qin Jian S. Dai
Department of Mechanical Engineering, Kings College London,University of London, Strand Campus, London WC2R 2LS, UK
国际会议
天津
英文
805-814
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）