This paper presents a three-spherical kinematic chain based parallel mechanism that evolved from an origami fold. The new parallel mechanism with symmetrical structure consists of a base, a platform, and three-spherical six-bar chains as chain-legs connecting to both base and platform via revolute joints. This paper investigates the constraint of the mechanism by constructing a virtual symmetric plane that is based on the three virtual centers of the spherical chains. Revealing the geometric characteristics and constraint disposition of the constraint screw system, singularity is identified related to the constraint configuration based on Grassmann line geometry and dependency of the constraint screw system, leading to selection of the design parameters that avoid the platform singularity.
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e-mail: ketao.zhang@kcl.ac.uk
e-mail: yffang@bjtu.edu.cn
e-mail: hrfang@bjtu.edu.cn
e-mail: jian.dai@kcl.ac.uk
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August 2010
Research Papers
Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism
Ketao Zhang,
Ketao Zhang
Department of Mechanical Engineering,
e-mail: ketao.zhang@kcl.ac.uk
Beijing Jiaotong University
, Beijing 100044, P.R. China; Department of Mechanical Engineering, King’s College London, University of London
, Strand, London WC2R 2LS, UK
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Yuefa Fang,
Yuefa Fang
Department of Mechanical Engineering,
e-mail: yffang@bjtu.edu.cn
Beijing Jiaotong University
, Beijing 100044, P.R. China
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Hairong Fang,
Hairong Fang
Department of Mechanical Engineering,
e-mail: hrfang@bjtu.edu.cn
Beijing Jiaotong University
, Beijing 100044, P.R. China
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Jian S. Dai
Jian S. Dai
Department of Mechanical Engineering, King’s College London,
e-mail: jian.dai@kcl.ac.uk
University of London
, Strand, London WC2R 2LS, UK
Search for other works by this author on:
Ketao Zhang
Department of Mechanical Engineering,
Beijing Jiaotong University
, Beijing 100044, P.R. China; Department of Mechanical Engineering, King’s College London, University of London
, Strand, London WC2R 2LS, UKe-mail: ketao.zhang@kcl.ac.uk
Yuefa Fang
Department of Mechanical Engineering,
Beijing Jiaotong University
, Beijing 100044, P.R. Chinae-mail: yffang@bjtu.edu.cn
Hairong Fang
Department of Mechanical Engineering,
Beijing Jiaotong University
, Beijing 100044, P.R. Chinae-mail: hrfang@bjtu.edu.cn
Jian S. Dai
Department of Mechanical Engineering, King’s College London,
University of London
, Strand, London WC2R 2LS, UKe-mail: jian.dai@kcl.ac.uk
J. Mechanisms Robotics. Aug 2010, 2(3): 031014 (7 pages)
Published Online: July 23, 2010
Article history
Received:
December 8, 2009
Revised:
April 21, 2010
Online:
July 23, 2010
Published:
July 23, 2010
Citation
Zhang, K., Fang, Y., Fang, H., and Dai, J. S. (July 23, 2010). "Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism." ASME. J. Mechanisms Robotics. August 2010; 2(3): 031014. https://doi.org/10.1115/1.4001783
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