Assembly Mode Changing in Parallel Mechanisms

Assembly Mode Changing in Parallel Mechanisms

Parallel mechanisms usually have several direct kinematic solutions that are attributed to different assembly modes (AMs) or postures. The present investigation deals with AM changing, and shows that beside the known cusp points, it is possible to change AM by moving on a path like a ramp, while enc...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE transactions on robotics 2008-08, Vol.24 (4), p.765-772
Hauptverfasser: Bamberger, H., Wolf, A., Shoham, M.
Format: Artikel
Sprache:eng
Schlagworte:
Actuators
Applied sciences
Assembly
Assembly lines
Bearings (mechanical)
Bearings, bushings, rolling bearings
Cusps
Drives
Exact sciences and technology
Industrial robots
Jacobian matrices
Kinematics
Linkage mechanisms, cams
Manufacturing engineering
Mechanical engineering
Mechanical engineering. Machine design
Motion pictures
Orbital robotics
Parallel machines
Polynomials
Posture
Ramps
Robot kinematics
Robotic assembly
Robots
singular systems
Singularities
Tolerance analysis
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Parallel mechanisms usually have several direct kinematic solutions that are attributed to different assembly modes (AMs) or postures. The present investigation deals with AM changing, and shows that beside the known cusp points, it is possible to change AM by moving on a path like a ramp, while encircling an alpha-curve in the joint space. For micromechanisms, where clearances at the mechanism joints are relatively large, AM changing may also occur when approaching a direct kinematic singularity.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.926863