Degrees of freedom analysis of parallel mechanisms based on screw theory

Qinghui Fu; Weikun Sun; Zhonghua Ma

doi:10.1117/12.2627654

22 April 2022 Degrees of freedom analysis of parallel mechanisms based on screw theory

Qinghui Fu, Weikun Sun, Zhonghua Ma

Proceedings Volume 12163, International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021); 121630Q (2022) https://doi.org/10.1117/12.2627654
Event: International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021), 2021, Nanjing, China

Abstract

The screw theory is a useful tool to calculate the degrees of freedom of mechanisms. This paper focuses on two parallel mechanisms, 3SRR and SP+SPS+SPR. By establishing the proper coordinate system, the motion-screw system of each limb can be constructed, then the constraint-screw system is given by using a duality relationship. Finally, the mechanism motion-screw system can be obtained from the maximum linear independent constraint-screw subsystem of each limb. The degree of freedom (DOF) of a mechanism can be determined by the dimension of the mechanism motion-screw system

Citation Download Citation

Qinghui Fu, Weikun Sun, and Zhonghua Ma "Degrees of freedom analysis of parallel mechanisms based on screw theory", Proc. SPIE 12163, International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021), 121630Q (22 April 2022); https://doi.org/10.1117/12.2627654

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