A General Degree of Freedom Formula for Parallel Mechanisms and Multiloop Spatial Mechanisms

作者：Yang Ting Li^*; Sun Dong Jin

来源：Journal of Mechanisms and Robotics, 2012, 4(1): 011001.

DOI：10.1115/1.4005526

• parallel mechanism
• multiloop mechanism
• DOF
• POC set
• POC equation

Based on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree of freedom (DOF) formula which is totally different from approaches based on the screw theory and the displacement group. It can be used to determine the full-cycle DOF of parallel mechanisms (PMs) and multiloop spatial mechanisms using symbolic "union" and "intersection" operations for POC sets. These operations involve only several rules and only simple mathematical tools (vector algebra, theory of sets, etc.) are used. Furthermore, criteria for determination of the inactive joints and selection of the actuating joints are proposed. The presented approach is illustrated with several examples. [DOI: 10.1115/1.4005526]

• 出版日期2012-2
• 单位常州大学