Back to Search
Start Over
Instantaneous Kinematics and Singularity Analysis of Spatial Multi-DOF Mechanisms Based on the Locations of the Instantaneous Screw Axes.
- Source :
-
Mechanism & Machine Theory . Jun2024, Vol. 196, pN.PAG-N.PAG. 1p. - Publication Year :
- 2024
-
Abstract
- • Instantaneous Kinematics (IK) of multi-DOF spatial mechanisms(SMs) is addressed • New geometric and analytic techniques for the analysis of this IK are presented • They relate multi-DOF SM's IK to the IK of the single-DOF SMs generated from it • They use Inst.-Screw-Axes (ISAs) and are implementable in a CAD system • The proposed methodology is relevant in mechanism design Multi-degree-of-freedom (multi-DOF) mechanisms generate single-DOF mechanisms by locking all their generalized coordinates but one. Here, the superposition principle is used to state a relationship between spatial multi-DOF mechanisms' instantaneous kinematics (IK) and the IK of the single-DOF mechanisms they generate. Firstly, the relationship between the instantaneous screw axes (ISAs) of a multi-DOF mechanism and the ISAs of the single-DOF mechanisms, it generates, is found; then, it is used for its singularity analysis. In particular, the IK model of a generic multi-DOF spatial mechanism is written through the ISA locations and, successively, it is studied to identify all the singular configurations of the multi-DOF mechanism through the analysis of the single-DOF mechanisms it generates. The results are a technique for the determination of ISAs' locations in multi-DOF spatial mechanisms and a singularity-analysis technique, for the same mechanism types, based on the singularity analysis of single-DOF spatial mechanisms. Eventually, the proposed techniques are applied to a case study. As far as this author is aware, both these results are presented for the first time in the literature. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 0094114X
- Volume :
- 196
- Database :
- Academic Search Index
- Journal :
- Mechanism & Machine Theory
- Publication Type :
- Academic Journal
- Accession number :
- 176433732
- Full Text :
- https://doi.org/10.1016/j.mechmachtheory.2024.105586