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Smart Devices and Machines for Advanced Manufacturing pp 49–78Cite as

A Unified Methodology for Mobility Analysis Based on Screw Theory

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Abstract

This chapter presents a unified methodology for mobility analysis based on constraint screw theory. The methodology contains a unified Modified Grübler-Kutzbach Criterion and a set of useful techniques. Firstly, we introduce preliminary fundamentals of screw theory and the Modified Grübler-Kutzbach Criterion with four important techniques. Then, using the Modified Grübler-Kutzbach Criterion and the four techniques, we investigate the mobility analysis of various kinds of mechanisms, including the single-loop mechanism, the symmetrical and asymmetrical parallel mechanism, and complex multiple-loop mechanisms. Universal applicability, validity and quickness of the unified methodology are demonstrated by examples. The proposed methodology is also easy to learn and easy to use for mechanical engineers. Finally, we explain the reason for the validity of this method from the calculation complexity point of view.

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Author information

Authors and Affiliations

  1. The Robotics Centre, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Zhen Huang & Jingfang Liu

  2. Mechatronics Institute, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, 310018, China

    Qinchuan Li

Authors
  1. Zhen Huang
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  2. Jingfang Liu
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  3. Qinchuan Li
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Editor information

Editors and Affiliations

  1. National Research Council of Canada, London, Ontario, N6G 4X8, Canada

    Lihui Wang PhD, PEng (Senior Research Officer) (Senior Research Officer)

  2. Ryerson University, Toronto, Ontario, M5B 2K3, Canada

    Jeff Xi PhD, PEng (Professor) (Professor)

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© 2008 Springer-Verlag London Limited

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Huang, Z., Liu, J., Li, Q. (2008). A Unified Methodology for Mobility Analysis Based on Screw Theory. In: Wang, L., Xi, J. (eds) Smart Devices and Machines for Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-84800-147-3_3

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  • DOI: https://doi.org/10.1007/978-1-84800-147-3_3

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84800-146-6

  • Online ISBN: 978-1-84800-147-3

  • eBook Packages: EngineeringEngineering (R0)

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