Reasonable Drive Selecting of Parallel Mechanisms Based on Screw Theory

• 作者: Guowei Pan Longqiang Qu Wenliang Chen
• 来源期刊: 世界工程和技术(英文)
• 学科: 工学
• 关键词: PARALLEL Mechanism DRIVE Selecting SCREW Theory WORKSPACE
• 年，卷（期）: 2015,（3）
• 页码范围: 259-265
• 页数: 7页
• 分类号: TP2

摘要

By rigidizing the input joints, all possible combinations of drive selecting for the 4-PPPS parallel mechanism are analyzed based on the screw theory in this paper, and the five of them are proved to be reasonable. Then choosing the one as mechanical actuators, the workspace of the 4-PPPS parallel mechanism is deduced according to the rational input scheme. Finally the rationality of input scheme for this mechanism is identified on the basis of the continuity of the workspace.