Reasonable Drive Selecting of Parallel Mechanisms Based on Screw Theory

Longqiang Qu, Guowei Pan, Wenliang Chen

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.

DOI: 10.4236/wjet.2015.33C038                

Abstract

By rigidizing the input joints, all possible combinations of drive selecting for the 4-PPPS parallel mechanism are analyzed based on the screw theory in this paper, and the five of them are proved to be reasonable. Then choosing the one as mechanical actuators, the workspace of the 4-PPPS parallel mechanism is deduced according to the rational input scheme. Finally the rationality of input scheme for this mechanism is identified on the basis of the continuity of the workspace.

Keywords

Parallel Mechanism, Drive Selecting, Screw Theory, Workspace

Conflicts of Interest

The authors declare no conflicts of interest.

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