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2012 | OriginalPaper | Buchkapitel

72. Forward Displacement Analysis of Two Foldable 3US Parallel Mechanisms

verfasst von : Yun Qin, Jian S. Dai

Erschienen in: Advances in Reconfigurable Mechanisms and Robots I

Verlag: Springer London

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Abstract

This paper investigates the foldability and the forward kinematics of the 3US parallel mechanisms. Based on the opportune arrangements of the Hooke joints axes, two foldable configurations with anticlockwise folding and clockwise deploying motion are presented. The forward kinematics of two configurations are analyzed which lead to the position expressions of the platform center and the orientation of the platform. The displacement expressions of two configurations are further compared. Moreover, the foldable configurations with clockwise folding and anticlockwise deploying motion are indicated to derive by mirroring the revolution axes of the Hooke joints associated with the base in each limb.

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Titel: Forward Displacement Analysis of Two Foldable 3US Parallel Mechanisms
verfasst von: Yun Qin
Jian S. Dai
Verlag: Springer London
Buch: Advances in Reconfigurable Mechanisms and Robots I
Print ISBN: 978-1-4471-4140-2

Electronic ISBN: 978-1-4471-4141-9

Copyright-Jahr: 2012
DOI: https://doi.org/10.1007/978-1-4471-4141-9_72