Abstract
Compared with traditional mechanisms, a new class of mechanism considering both the rigid and the flexible elements is proposed to satisfy the demands of modern engineering in this paper. This class of mechanism is named as generalized mechanism, and they consists of generalized links and kinematic pairs. First, based on screw algebra, we derive the motion spaces of generalized links and the constraint spaces of generalized kinematic pairs. Then, we analyze the minimal and maximal mobilities of generalized links, as well as the minimal and maximal constraints of generalized kinematic pairs. Finally, three formulas for calculating the degree of freedom (DOF) of generalized mechanisms are established. The analytical results show that the DOF of each generalized mechanism is not unique, but an interval value. The real DOF of generalized mechanisms depends on both the links’ materials, the magnitude and direction of external loads.
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This project is supported by National Natural Science Foundation of China (Grant No. 51375360).
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Li, T., Deng, H., Zhang, L. (2017). Mobility Analysis of Generalized Mechanisms via Screw Algebra. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_48
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DOI: https://doi.org/10.1007/978-981-10-2875-5_48
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