Mechanism for active Π-joint as an equivalent to the combination of revolute joint and proximal fixed-length link
| Autor: | Kornel F. Ehmann, Ryuta Sato, Dragan Milutinovic, Daisuke Matsuura |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry General Mathematics 02 engineering and technology Link (geometry) Kinematics Linkage (mechanical) Revolute joint Industrial and Manufacturing Engineering Computer Science Applications law.invention Mechanism (engineering) 020303 mechanical engineering & transports 020901 industrial engineering & automation Planar 0203 mechanical engineering Control and Systems Engineering Control theory law business Joint (geology) Parallelogram Software |
| Zdroj: | Robotics and Computer-Integrated Manufacturing. 37:179-187 |
| ISSN: | 0736-5845 |
| DOI: | 10.1016/j.rcim.2015.05.005 |
| Popis: | The Pa or ?-joint, as a planar parallelogram four-bar linkage, is of particular interest and importance for parallel kinematic mechanisms. With the idea of replacing the combination of an active revolute joint and of a proximal fixed-length link with an active (powered and controlled) ?-joint, a new parallelogram-based one-degree-of-freedom (1-DOF) mechanism has been developed. The paper describes the structure of the mechanism, modeling approach and analysis as well as the developed active ?-joint laboratory prototype. We propose a parallelogram-based 1-DOF complex mechanism for active ? -joint.We describe its structure, advantages and applicability in parallel machines.We present analysis-oriented modeling approach.We develop and investigate initial laboratory prototype. |
| Databáze: | OpenAIRE |
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