Actuation schemes of a spatial 3-PPRR parallel mechanism

作者：Zhao J S^*; Chu F; Feng Z J; Dai J S

来源：Proceedings of the Institution of Mechanical Engineers - Part C: Journal of Mechanical Engineering Science , 2012, 226(C1): 228-241.

DOI：10.1177/0954406211412683

• possible actuation scheme
• feasible actuation scheme
• actuation of the end-effector
• mechanism
• Burnside's lemma

This paper presents a systematic method to analyse actuation schemes. With the wide application of complex spatial mechanisms in engineering the number of excess constraints included in a mechanism is increasing. As a result, there are an increasing number of cases in which the number of actuators needed to control an end-effector is larger than the number of degrees of freedom possessed by the end-effector. The mechanism architecture is first presented and then the mobility of the mechanism is analysed in terms of independent parameters in position constraint equations. Finally, the possible and feasible actuation schemes for the end-effector are generated and analysed.

• 出版日期2012
• 单位清华大学; 天津大学