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Principal Screws and Full-Scale Feasible Instantaneous Motions of Some 3-DOF Parallel Manipulators InTech
Z. Huang; J. Wang; S. H. Li.
This chapter presents a study on the full-scale instant twists motions of 3-DOF parallel manipulators. The study is of extremely benefit to understand and correctly apply a mechanism. It is based on principal screws of the screw system. The key problem is to derive three principal screws from a given 3-DOF mechanism. It needs to set the relation between the pitches of the principal screws and the three linear inputs of the mechanism. In this chapter, the effective method to identify the principal screws of a third-order screw system of 3-DOF mechanisms is presented. For obtaining the principal screws there introduce two methods, the quadratic curve degenerating theory and quadric degenerating theory. Besides, the imaginary-mechanism influence coefficient...
Tipo: 18 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/principal_screws_and_full-scale_feasible_instantaneous_motions_of_some_3-dof_parallel_manipulators
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