Architecture Singularity Analysis of 4-U PS/U PU 5-DOF Parallel Mechanism

来源 :天津大学学报(英文版) | 被引量 : 0次 | 上传用户:syn301
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
Architecture singularity of a parallel mechanism with five degrees of freedom (DOF) is analyzed. Such mechanism consists of a movable platform connected to the base by five active limbs. Four of them are identical 6-DOF limbs and the last one has the same DOF as the specified DOF of the movable platform. Based on the kinematics analysis, two categories of architecture singularities for such mechanism are proposed. Then the sufficient condition for each singularity is researched. Results show that the mechanism is singular when it employs each category of the proposed architecture, provided that it satisfies the corresponding sufficient condition. It can be concluded that the proposed two categories of architecture singularities should be avoided with the following dimension-al synthesis of such mechanism.
其他文献
A new type of transformation induced plasticity (TRIP) steel with not only high strength and high ductility but also superior welding and galvanizing properties
Refrigeration coefficient, ε, is usually calculatedby using the First Law of Thermodynamics. In this paper, anew derivation process is introduced through the c
In this paper, the authors obtain a necessary and sufficient condition for the Lp boundedness of commutators generated by Bochner-Riesz operators below a critic
Cadmium zinc telluride(CZT)is a preferred material for X-ray and gamma-ray detector.Thanks to the relatively high atomic number,high density and wide band-gap.C
There is an increasing demand for supporting high-quality real-time audiovisual services for the next generation wired and wireless networks. However, due to va
The solidification of Pb-16 %Sb hypereutectic alloy is investigated within ultrasonic field with a frequency of 15 kHz. It is found that the ultrasonic field pr
A secondary amino-modified mesoporous molecular sieve MCM-41 was obtained by reaction of bis(3-(triethoxysilyl)propyl)amine with MCM-41. The chiral Salen-Mn (Ⅲ
The selenium isotopic ratios have been measured in the Yutangba Se deposit, Hubei Province, China. The results show that the δ82/76SeNIST values vary from -12.
In this paper, we investigate a class of affine nonlinear systems with a triangular-like structure and present its necessary and sufficient condition for global
The CD59-coding sequences were obtained from 5 mammals by PCR and BLAST, and combined with the available sequences in GenBank, the nucleotide substitution rates