Crank conditions and rotatability of 3-RRR planar parallel mechanisms

作     者：LI RuiQin 1 &DAI Jian S 2 1 College of Mechanical Engineering and Automation,North University of China,Taiyuan 030051,China 2 Department of Mechanical Engineering,King’s College London,University of London,WC2R 2LS,UK 

作者机构：College of Mechanical Engineering and Automation North University of China Taiyuan 030051 China Department of Mechanical Engineering King’s College London University of London WC2R 2LS London UK 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2009年第52卷第12期

页      面：3601-3612页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：Supported by the Natural Science Foundation of Shanxi Province in China(Grant No.20041070) 

主　　题：crank rotatability planar parallel mechanism 

摘      要：This paper investigates the rotatability of planar parallel mechanisms by revealing the crank conditions that relate to link *** paper extends the theorem of assemblability and the rotatability criterion and applies these criteria to parallel mechanisms in investigating the crank conditions of a parallel mechanism,leading to classification of three types of crank existing conditions including three-crank’s,six-crank’s and nine-crank’s of 3-RRR planar parallel *** results are summarized as constraint conditions in relation with link parameters with a concluding table and case studies.