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Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory
Joint Authors
Bai, Shaoping
Qu, Shuwei
Li, Ruiqin
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-05
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Decoupled parallel mechanisms (DPMs) have the characteristics of compact structure and simple control with wide applications.
This paper presents a new method of type synthesis for DPMs by virtue of Lie groups and screw theory.
The method consists of synthesis at limb level and configuration level.
At limb level, Lie group is used to synthesize the limbs with required DOFs.
At configuration level, screw theory is adopted to determine configuration with synthesized limbs that satisfy the type synthesis criteria of DPMs.
The type synthesis criteria including limb decoupling and selection of the driving pairs are presented.
Upon the formulation, the procedure of type synthesis of DPMs is developed.
Type synthesis is conducted with the proposed method, which leads to new spatial and planar fully decoupled 2T1R mechanisms.
American Psychological Association (APA)
Qu, Shuwei& Li, Ruiqin& Bai, Shaoping. 2017. Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1192297
Modern Language Association (MLA)
Qu, Shuwei…[et al.]. Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory. Mathematical Problems in Engineering No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1192297
American Medical Association (AMA)
Qu, Shuwei& Li, Ruiqin& Bai, Shaoping. Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1192297
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1192297