Analysis on Degree of Freedom of Mechanism Based on Characteristics Description of Joint Motion Domain. (October 2020)

• Record Type: Journal Article
• Authors: Luo, Jianguo; Wang, Ting; Wang, Yuqiang
• Is Part Of: Journal of physics. Volume 1626(2020)
• Publication Date: 2020-10
• Subjects: Degree of Freedom -- Joint Motion Domain -- Whole Basic Unit of Translation/Rotation -- Six Elements Description -- Planar Six-Dimensional Topological Graph; Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1626/1/012115
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: The concepts includes input and output degrees of freedom of the mechanism are distinguished and redefined, The motion domain characteristics of translation and rotation joints can be described by planar six-dimensional topological graph, the output kinematic characteristics of RRPRR series branch chain and 3-RRPRR parallel mechanism are obtained by an example analysis, this new theory and method not only realize the quantitative display of the instantaneous degree of freedom of mechanism for the first time historically. In addition, the detailed process and form of the comprehensive transformation between the input and output motions of the mechanism are revealed historically for the first time and presented in the form of formulas. Theoretical definition and computational analysis method based on the six elements description of moving scope of joint newly proposed, which provides a set of scientific, universal, intuitive and effective theory and method for DOF analysis of arbitrary serial and parallel mechanisms.