Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis

Mechanism and Machine Theory

Volumn 39, Issue 4, 2004, Pages 445-458

  Dai, Jian S ^a   Li, Duanling ^b,c   Zhang, Qixian ^b   Jin, Guoguang ^b  

^a KING'S COLLEGE LONDON   (United Kingdom)

^b BEIHANG UNIVERSITY   (China)

^c BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS   (China)

Author keywords

Constraint; Kinematic chain; Mechanism; Mobility; Parallel mechanism; Platform; Screw system

Indexed keywords

CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); ELECTRIC MACHINE THEORY; HAND TOOLS; KINEMATICS; SCREWS; SYSTEMS ENGINEERING;

CONSTRAINTS; KINEMATIC CHAINS; PARALLEL MECHANISMS; PLATFORMS; SCREW SYSTEMS;

LARGE SCALE SYSTEMS;

EID: 1442359801     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2003.12.004     Document Type: Article

References (22)

1. Kutzback K. Quer-und Winkelbewegliche Gleichganggelenke fur Wellenleitunger. vol. 81:1937;889-892 Z. VDI., Bd.
2. Shoham M., Roth B. Connectivity in open and closed loop robotic mechanisms. Mechanism and Machine Theory. 32(3):1997;279-293.
3. Waldron K.J. A family of overconstrained linkages. Journal of Mechanisms. 2:1967;201-211.
4. Gibson C.G., Hunt K.H. Geometry of screw systems - 1, screws: genesis and geometry. Mechanism and Machine Theory. 25(1):1990;1-10.
5. Rico Martinez J.M., Duffy J. Orthogonal spaces and screw systems. Mechanism and Machine Theory. 27(4):1992;451-458.
6. Dai J.S., Rees Jones J. Interrelationship between screw systems and corresponding reciprocal systems and applications. Mechanism and Machine Theory. 36(5):2001;633-651.
7. Hunt K.H. Screw axes and mobility in spatial mechanisms via the linear complex. Journal of Mechanisms. 3:1967;307-327.
8. Phillips J. Freedom in Machinery. 1984;Cambridge University Press.
9. Dai J.S., Rees Jones J. Mobility in metamorphic mechanisms of foldable/erectable kinds, 25th ASME Biennial Mechanisms and Robotics Conference, Atlanta, 1998. Journal of Mechanical Design, Transaction of ASME. 121(3):1999;375-382.
10. Dai J.S., Rees Jones J. A linear algebraic procedure in obtaining reciprocal screw systems. Journal of Robotic Systems. 20(7):2003;401-412.
11. Zhao T.S., Dai J.S., Huang Z. Geometric synthesis of spatial parallel manipulators with fewer than six degrees of freedom. Journal of Mechanical Engineering Science, Proc. IMechE. 216(C12):2002;1175-1186.
12. Dai J.S., Kerr D.R. A six-component contact force measurement device based on the Stewart platform. Journal of Mechanical Engineering Science, Proc. of IMechE. 214(C5):2000;687-697.
13. Hunt K.H. Kinematic Geometry of Mechanisms. 1978;Clarendon, Oxford.
14. Cao W. Principle of Mechanisms. 1983;Higher Education Publisher, Beijing.
15. Huang Z., Kong L., Fang Y. Mechanism Theory and Control of Parallel Robot. 1997;Mechanical Industry Press, Beijing.
16. J.S. Dai, J. Rees Jones, Vectors of cofactors of a screw matrix and their relationship with reciprocal screws, in: International Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell Ball Upon the 100th Anniversary of A Treatise on the Theory of Screws, Cambridge, UK, July, 2000.
17. Langbecker T. Kinematic analysis of deployable scissors structure. International Journal of Space Structures. 14(14):1999;1-14.
18. Dai J.S., Rees Jones J. Null space construction using cofactors from a screw algebra context. Proc. Royal Society London: Mathematical, Physical and Engineering Sciences. 458(2024):2002;1845-1866.
19. Liu H., Dai J.S. Carton manipulation analysis using configuration transformation. Journal of Mechanical Engineering Science, Proc. IMechE, Part C. 216(C5):2002;543-555.
20. Liu H., Dai J.S. An approach to carton-folding trajectory planning using dual robotic fingers. Robotics and Autonomous Systems. 42(1):2003;47-63.
21. J.J. Parise, L.L. Howell, S.P. Magleby, Ortho-planar mechanisms, Proc. 26th Biennial Mechanisms and Robotics Conference, Baltimore, 2000.
22. Lu K., Lu H. Graph Theory and Application. 1995;Tsinghua University Press, Beijing.