螺旋理论
运动学
工作区
雅可比矩阵与行列式
机制(生物学)
各向同性
运动学图
奇点
引力奇点
反向动力学
计算机科学
几何学
控制理论(社会学)
数学
经典力学
数学分析
物理
运动链
应用数学
机器人
人工智能
光学
量子力学
控制(管理)
作者
Long Kang,Semin Oh,Wheekuk Kim,Byung-Ju Yi
标识
DOI:10.1177/0954406215605862
摘要
In this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.
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