Type synthesis of the 2R1T parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling

详细信息    查看全文

• 作者：Yundou Xu ^{ydxu@ysu.edu.cn} ; Dongsheng Zhang ; Jiantao Yao ; Yongsheng Zhao ; ^{yszhao@ysu.edu.cn}
• 关键词：2R1T parallel mechanism ; Continuous rotational axis ; Constraint force ; Motion decoupling ; Serial-parallel manipulator
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：108
• 期：Complete
• 页码：27-40
• 全文大小：1521 K
• 卷排序：108

文摘

Get the constraint forces that give the 2R1T-PM two CRAs. Obtain a series of novel 2R1T PMs with two continuous axes. Study the decoupling based on the relation of actuation force and rotational axis.