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Crank conditions and rotatability of 3-RRR planar parallel mechanisms

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Abstract

This paper investigates the rotatability of planar parallel mechanisms by revealing the crank conditions that relate to link parameters. The 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 mechanisms. The results are summarized as constraint conditions in relation with link parameters with a concluding table and case studies.

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Authors and Affiliations

  1. College of Mechanical Engineering and Automation, North University of China, Taiyuan, 030051, China

    RuiQin Li

  2. Department of Mechanical Engineering, King’s College London, University of London, WC2R 2LS, London, UK

    Jian S. Dai

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  1. RuiQin Li
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  2. Jian S. Dai
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Correspondence to RuiQin Li.

Additional information

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

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Li, R., Dai, J.S. Crank conditions and rotatability of 3-RRR planar parallel mechanisms. Sci. China Ser. E-Technol. Sci. 52, 3601–3612 (2009). https://doi.org/10.1007/s11431-009-0290-2

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  • DOI: https://doi.org/10.1007/s11431-009-0290-2

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