Mobility analysis of a novel 3-5R parallel mechanism family whose limb consists of a 2R and a 3R parallel subchain is performed by the aid of screw theory. A mobility criterion applicable to such 3-leg parallel mechanisms in which each kinematic chain contains five kinematic pairs is proposed. It is shown that under different structural conditions, the 3-5R parallel mechanism can have 3, 4, or 5 DOF (degrees of freedom). The structural conditions that guarantee the full-cycle mobility are analyzed. The analysis and the method presented in this paper will be helpful in using such a 3-5R parallel mechanism family and introduce new insights into the mobility analysis of parallel mechanisms.
Mobility Analysis of a Novel 3-5R Parallel Mechanism Family
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 2002. Associate Editor: C. Marroidis.
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Li, Q. C., and Huang, Z. (March 11, 2004). "Mobility Analysis of a Novel 3-5R Parallel Mechanism Family ." ASME. J. Mech. Des. January 2004; 126(1): 79–82. https://doi.org/10.1115/1.1637651
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