On Passive Limbs in the Design of Parallel Mechanisms
Passive limbs in parallel mechanisms can be introduced during type synthesis in order to reduce the possibility of redesigning or to decrease the complexity of the latter control strategy.In this paper,to find out more influences passive limbs can have on the performance of parallel mechanisms,using the theory of reciprocal screws,a united modeling framework of parallel mechanisms with passive limbs and without passive limbs is established first and then the performance comparison is carried out between parallel mechanisms with passive limbs and without passive limbs.All the performance indexes are calculated based on Jacobian matrices.The comparison results indicate that parallel mechanisms with passive limbs perform better in architecture dexterity,linear velocity isotropy,angular velocity isotropy,force isotropy,torque isotropy,maximum values of torque,linear deformation isotropy,angular deformation isotropy and maximum values of angular deformation.
Parallel mechanism Passive limb Reciprocal screws Performance comparison
Xu Wang Weizhong Guo Feng Gao
State Key Laboratory of Mechanical Systems and Vibration,Shanghai Jiao Tong University, Shanghai 200240, China
国际会议
广州
英文
493-504
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）