TITLE:
Reasonable Drive Selecting of Parallel Mechanisms Based on Screw Theory
AUTHORS:
Longqiang Qu, Guowei Pan, Wenliang Chen
KEYWORDS:
Parallel Mechanism, Drive Selecting, Screw Theory, Workspace
JOURNAL NAME:
World Journal of Engineering and Technology,
Vol.3 No.3C,
October
23,
2015
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.