منابع مشابه
Self-motions of parallel manipulators associated with flexible octahedra
A Stewart Gough (SG) platform is a parallel manipulator consisting of a moving platform, which is connected via six Spherical-Prismatical-Spherical (SPS) legs with the base. Moreover a SG platform is called planar if the six platform anchor points mi (i = 1, . . . ,6) are located in a plane and if the corresponding base anchor points Mi are coplanar as well (see Fig. 1a). Note that a SG platfor...
متن کاملSelf-motions of TSSM manipulators with two parallel rotary axes
In this paper we determine all non-trivial self-motions of TSSM manipulators with two parallel rotary axes which equals the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification of these motions for the whole set of parallel manipulators of TSSM type. Our approach is based on Kokotsakis meshes and the reducible compositions of sphe...
متن کاملOn Stewart Gough manipulators with multidimensional self-motions
By means of bond theory, we study S G (SG) platforms with n-dimensional self-motions with n > 2. It turns out that only architecturally singular manipulators can possess these self-motions. Based on this result, we present a complete list of all SG platforms, which have n-dimensional self-motions. Therefore this paper also solves the famous B B problem for n-dimensional moti...
متن کاملAcceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory
According to the notation proposed by the International Federation for the Theory of Mechanisms and Machines IFToMM (Ionescu, 2003); a parallel manipulator is a mechanism where the motion of the end-effector, namely the moving or movable platform, is controlled by means of at least two kinematic chains. If each kinematic chain, also known popularly as limb or leg, has a single active joint, the...
متن کاملAn Explanation of Never-Special Assembly Changing Motions for 3-3 Parallel Manipulators
When the leg rods of a fully in-parallel manipulator are fixed in their lengths, it is usual that the device can be assembled in several distinct ways. Sometimes it happens that motion between such assemblies can take place such that the linkage is never at a special configuration; that is, a configuration where the moving-platform body acquires uncontrollable freedom relative to the base. The ...
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ژورنال
عنوان ژورنال: Frontiers of Mechanical Engineering
سال: 2013
ISSN: 2095-0233,2095-0241
DOI: 10.1007/s11465-013-0366-3