Abstract
Based on topological structure characteristics of the parallel mechanisms, the internal relationship between kinematics decoupling and mobility types of mechanisms is revealed, and the basic principle for structural synthesis of topological decoupling mechanisms is put forward. Using this theory, a group of 3 degree-of-freedom (DOF) partial decoupling manipulators could be synthesized, the expected kinematic outputs of which are 1-DOF translation and 2-DOF rotation, and the unexpected outputs of which are constants. The kinematic analysis demonstrates that these manipulators can be easily controlled in real time and their paths planning can be also reached due to the partial decoupling property for kinematics.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.