WJET  Vol.3 No.3 C , October 2015
Reasonable Drive Selecting of Parallel Mechanisms Based on Screw Theory
Abstract: By rigidizing the input joints, all possible combinations of drive selecting for the 4-PPPS parallel mechanism are analyzed based on the screw theory in this paper, and the five of them are proved to be reasonable. Then choosing the one as mechanical actuators, the workspace of the 4-PPPS parallel mechanism is deduced according to the rational input scheme. Finally the rationality of input scheme for this mechanism is identified on the basis of the continuity of the workspace.
Cite this paper: Qu, L. , Pan, G. and Chen, W. (2015) Reasonable Drive Selecting of Parallel Mechanisms Based on Screw Theory. World Journal of Engineering and Technology, 3, 259-265. doi: 10.4236/wjet.2015.33C038.

[1]   Yang, T.L. (1987) Structural Analysis and Synthesis of Spatial Mechanism-II Structural Analysis of Spatial Multi-Loop Mechanisms. Journal of Machine Design, 3, 1-11.

[2]   Tsai, L.W. (1999) Robot Analysis: The Mechanics of Serial and Parallel Robots. John Wiley & Sons, New York.

[3]   Kong, X.W. (1999) The Interference Discrimination of Active Motion of Space Motion Chain. Journal of Mechanical Transmission, 23, 23-25.

[4]   Yang, T.L. (2004) Topology Structure Design of Robot Mechanisms. China Machine Press, Beijing, 47-48.

[5]   Zhao, T.S. and Huang, Z. (2000) Theory and Application of Selecting Actuating Components of Spatial Parallel Mechanism. Chinese Journal of Mechanical Engineering, 36, 81-85.

[6]   Li, S.H., Zhao, X.D., Ding, W.H. and Liu, Y.M. (2010) Research and Application of Input Selecting Theory of Multi- DOF Parallel Mechanisms. Journal of Machine Design, 27, 62-64.

[7]   Cao, Y.G., Zhang, Y.R. and Ma, Y.Z. (2008) Workspace Analysis and Parameter Optimization of 6-RSS Parallel Mechanism. Chinese Journal of Mechanical Engineer, 44, 19-24.

[8]   IFToMM (2003) Permanent Commission for Standardization of Terminology, Terminology for the Mechanism and Machine Science. Mech. Mech. Theory, 38, 597-605.

[9]   Huang, Z., Liu, J.F. and Li, Y.W. (2011) Theory of Mechanical Freedom: Look for the General Formula of DOF in 150 Years. Science Press, Beijing, 338-339.

[10]   Huang, Z. and Li, Q.C. (2002) General Methodology for Type Synthesis of Low-er-Mobility Symmetrical Parallel Manipulators and Several Novel Manipulators. International Journal of Robotics Research, 21, 131-145.

[11]   Liu, J.F., Li, Y.W. and Huang, Z. (2009) Mobility of the Ben-nett-Based Linkages. ASME, 2009, DETC2009-86243.