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Orientation angle rotatability of planar serial n-link manipulators

science china(Technological sciences) 2010年第6期53卷 1620-1637页

作者： li ruiqin1,xiao denghong1 & dai jian s2.1 college of mechanical engineering and automation,{2.,taiyuan 030051,china 2.Department of mechanical engineering,King’s college London,university of London,London WC2. 2.s,UK 1. college of mechanical {2. and automation North University of China Taiyuan 030051 China2. Department of Mechanical Engineering King’s College London University of London London WC2R 2LS UK

This paper presents a new method of analyzing the orientation angle rotatability of a planar serial n-link manipulator by examining the rotatability of its virtual equivalent *** orientation boundary region decomposition is proposed based on the polynomial discriminant derived from a serial three-link *** angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position *** introducing a virtual equivalent mechanism,the open-chain kinematic problem is converted into a close-chain mechanism,and the Grashof-type condition is used to examine the rotatability of the end-effector *** reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals based on the extreme positions and singular configurations of a *** derived equations in this paper can be used to calculate the variation rule of the orientation angle workspace of any given planar serial n-link manipulator on the basis of its link *** orientation angle rotatability of a seven-link serial manipulator is solved by the proposed method and graphical representations of the orientation angle workspaces are mapped onto a three-dimensional coordinate *** theoretical approach has practical significance for the design of a highly dexterous serial n-link manipulator with proposed link relations.

关键词： Grashof criterion planar serial manipulator orientation angle workspace virtual equivalent mechanism

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Crank conditions and rotatability of 3-RRR planar parallel mechanisms

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science china(Technological sciences) 2009年第12期52卷 3601-3612页

作者： li ruiqin 1 &{2. jian s 2.1 {2. of mechanical engineering and automation,north university of china,taiyuan 030051,china 2.Department of mechanical engineering,King’s {2. London,university of London,WC2. 2.s,UK college of mechanical {2. and automation North University of China Taiyuan 030051 China Department of mechanical engineering King’s College London University of London WC2R 2LS London UK

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.

关键词： crank rotatability planar parallel mechanism

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