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Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory

A new type of 3-PPR spherical parallel mechanism is proposed.Due to the mobile pair special trajectory in each branch chain,the mobile pair can be equivalent conversion for revolute pair.Based on screw theory,each branched chain motion screw system is given.The mobility of this mechanism is analyzed...

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Principais autores: Zhao Ruijie, Song Shengtao, Li Ruiqin, Li Dahai, Zhao Jianwen
Formato: Artigo
Idioma:Chinês
Publicado em: Editorial Office of Journal of Mechanical Transmission 2017-01-01
coleção:Jixie chuandong
Assuntos:
Parallel spherical mechanism
Screw theory
Jacobian matrix
Singularity
Positive position solution
Working space
Acesso em linha:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.022
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