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Mobility analysis for parallel manipulators based on intersection of screw manifolds

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Abstract

In order to overcome the exceptional cases of the classical CGK formula for mobility analysis, a novel approach based on intersection of screw manifolds is proposed in this paper. This approach can deal with both the mobility of the moving platform and the full-cycle mobility. Furthermore, this approach can identify the redundant and passive mobilities, and guide the allocation of actuators. The procedure of the intersection operation of screw manifolds is presented in detail using the proposed concept of the complementary screw. And in special conditions, the intersection of two screw manifolds can be achieved instantly without the calculation of complementary screws. Moreover, this approach needs no investigation of the structures and properties of subgroups or submanifolds, and needs no reference to tables that are generalized to demonstrate operational rules for intersection of two subgroups. The proposed notion of the intersection of screw manifolds has the explicit kinematic sense, so that the nature of the mechanical motion of parallel robotic mechanisms can be profoundly understood.

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Authors and Affiliations

  1. School of Mechanical Engineering, Tongji University, Shanghai, 201804, China

    Wanghui Bu & Shuang Yan

  2. School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou, 310018, China

    Jing Chen

  3. School of Mechanical and Power Engineering, Dalian Ocean University, Dalian, 116023, China

    Xianghua An

Authors
  1. Wanghui Bu
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  2. Shuang Yan
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  3. Jing Chen
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  4. Xianghua An
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Corresponding author

Correspondence to Jing Chen.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Wanghui Bu received the Bachelor’s degree from Tongji University, China, in 2004, and the Ph.D. degree from Zhejiang University, China, in 2009. He is currently an Associate Professor at the School of Mechanical Engineering, Tongji University, China. His current research interests are focused on mechanisms and robotics.

Jing Chen received the Ph.D. degree in Mechanical Engineering from Zhejiang University, China, in 2010. She is now a Lecturer at the School of Computer Science and Technology, Hangzhou Dianzi University, China. Her current research interests include machine learning and urban transportation.

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Bu, W., Yan, S., Chen, J. et al. Mobility analysis for parallel manipulators based on intersection of screw manifolds. J Mech Sci Technol 30, 4345–4352 (2016). https://doi.org/10.1007/s12206-016-0849-3

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  • DOI: https://doi.org/10.1007/s12206-016-0849-3

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