Design of general kinematotropic mechanisms

作者：Zeng Qiang^*; Ehmann Kornel F; Cao Jian

来源：Robotics and Computer-Integrated Manufacturing, 2016, 38: 67-81.

DOI：10.1016/j.rcim.2015.10.005

• Kinematotropic mechanism
• Mobility bifurcation
• Parallel mechanism
• Kinematic structural synthesis
• Displacement group theory

The general mobility of a linkage mechanism is determined during its continuous motions, but there is a class of mechanisms with kinematotropic properties whose mobility can be changed at singularities of their pose, while their kinematic structure remains unchanged in the different motion modes. This paper presents a systematic design method for general kinematotropic mechanisms. Firstly, the basic kinematic structures of spatial motions in serial and parallel forms are introduced. Secondly, the basic properties and design rules of kinematotropic mechanisms are defined, and the basic serial kinematic chains with variable constraint relations are presented. Thirdly, a systematic method for kinematic structural synthesis of general kinematotropic mechanisms is proposed. Finally, two types of motion transformations with four kinematotropic mechanisms are synthesized and analyzed as illustrative examples of the method.

• 出版日期2016-4
• 单位西北大学