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Mobility Analysis of Parallel Mechanisms Using Screw Theory

  • MECHANICS OF MACHINES
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Abstract

The paper presents an algorithm for the mobility analysis (structural analysis) of parallel mechanisms using screw theory. The proposed algorithm is demonstrated on the combined mechanisms designed from planar and spatial kinematic chains. The paper considers several cases when the mechanisms include various types of chains providing them with a different number of degrees-of-freedom. The mobility of the investigated mechanisms is justified considering the joint axes arrangement.

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Funding

This research was supported by the Russian Science Foundation (RSF) under grant no. 21-79-10409, https://rscf.ru/project/21-79-10409/.

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Authors and Affiliations

  1. Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia

    A. V. Antonov & A. S. Fomin

Authors
  1. A. V. Antonov
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  2. A. S. Fomin
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Correspondence to A. S. Fomin.

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The authors declare that they have no conflicts of interest.

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Antonov, A.V., Fomin, A.S. Mobility Analysis of Parallel Mechanisms Using Screw Theory. J. Mach. Manuf. Reliab. 51, 591–600 (2022). https://doi.org/10.3103/S1052618822070044

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  • DOI: https://doi.org/10.3103/S1052618822070044

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