TY - GEN
T1 - A simple method for mobility analysis using reciprocal screws
AU - Huang, Z.
AU - Ge, Q. J.
PY - 2006
Y1 - 2006
N2 - The goal of this paper is to demonstrate that the Modified Grübler-Kutzbach Criterion when combined with a simple procedure for determining the reciprocal screws offers a direct and simple method for analysing highly complex mechanisms including the over-constrained parallel manipulators. Since the scalar product of screws is not dependent on the choice of the origin, one can quickly obtain a simple expression of screws by selecting an appropriate coordinate system. In such simple expression, the coordinates of a screw would include 0 or 1, and thus greatly simplifies the procedure for determine the number of constraints in a mechanism. Seven rules have been presented to help simplify the analysis process. The advocated approach makes it possible to determine, within minutes, the mobility of a highly complex mechanism by using a pencil and a paper. Many over-constrained mechanisms, including three parallel mechanisms, are presented as examples.
AB - The goal of this paper is to demonstrate that the Modified Grübler-Kutzbach Criterion when combined with a simple procedure for determining the reciprocal screws offers a direct and simple method for analysing highly complex mechanisms including the over-constrained parallel manipulators. Since the scalar product of screws is not dependent on the choice of the origin, one can quickly obtain a simple expression of screws by selecting an appropriate coordinate system. In such simple expression, the coordinates of a screw would include 0 or 1, and thus greatly simplifies the procedure for determine the number of constraints in a mechanism. Seven rules have been presented to help simplify the analysis process. The advocated approach makes it possible to determine, within minutes, the mobility of a highly complex mechanism by using a pencil and a paper. Many over-constrained mechanisms, including three parallel mechanisms, are presented as examples.
UR - https://www.scopus.com/pages/publications/33751331927
U2 - 10.1115/detc2006-99677
DO - 10.1115/detc2006-99677
M3 - Conference contribution
AN - SCOPUS:33751331927
SN - 079183784X
SN - 9780791837849
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
PB - American Society of Mechanical Engineers
T2 - 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
Y2 - 10 September 2006 through 13 September 2006
ER -