2011 | OriginalPaper | Buchkapitel
Design of Limb for Parallel Mechanism Based on Screw Theory
verfasst von : Zhigang Lai, Lixin Li, Ping’ an Liu
Erschienen in: Computer and Computing Technologies in Agriculture IV
Verlag: Springer Berlin Heidelberg
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Based on the reciprocal relationship of twist and wrench in screw theory, the mathematical model for limb of parallel manipulator is established in this paper. According to the motion modes of mobile platform (translation or rotation), we concluded the geometric conditions which the prismatic joint or revolute joint must meet with by analyzing the constraint screw on the platform, which provides the background for development of parallel mechanism.