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Author:

Fang, Bin (Fang, Bin.) | Li, Jianfeng (Li, Jianfeng.) (Scholars:李剑锋) | Qing, Jianxi (Qing, Jianxi.)

Indexed by:

EI PKU CSCD

Abstract:

H4 mechanism corresponds to a group of parallel mechanisms with good dynamical character, the center components of their movable platforms have three translational DOFs and one rotational DOF. In this group of mechanisms there are four isomorphic sub-chain mechanisms, each sub-chain includes one (S-S)2 quadrilateral bar-suit, and the difference of these four mechanisms is in that their actuated joints or the sub-chains'deployment between base and movable platforms are different. Based on the structure analysis of isomorphic sub-chain mechanisms, the force equilibrium equations of movable platform and sub-chain are established, and force Jacobian matrix are obtained. On which the singularities of the four mechanisms are analyzed by using line geometry method, the discriminating conditions of sub-chain singularity, platform singularity and actuator singularity are proposed, and the kinematic characters of mechanisms at singularity configurations are analyzed. Finally, the configuration examples of an isomorphic sub-chain parallel mechanism in the states of sub-chain singularity, platform singularity and actuator singularity are illustrated. ©2010 Journal of Mechanical Engineering.

Keyword:

Jacobian matrices Actuators Mechanisms

Author Community:

  • [ 1 ] [Fang, Bin]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
  • [ 2 ] [Li, Jianfeng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
  • [ 3 ] [Qing, Jianxi]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

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Source :

Journal of Mechanical Engineering

ISSN: 0577-6686

Year: 2010

Issue: 21

Volume: 46

Page: 42-47

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 5

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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