A visual graphic approach for mobility analysis of parallel mechanisms

Front Mech Eng

2011, Vol. 6

RAPID COMMUNICATION

Xu PEI(

), Jingjun YU

School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

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Corresponding Author(s): PEI Xu,Email:peixu@buaa.edu.cn

Issue Date: 05 March 2011

Cite this article:

Xu PEI,Jingjun YU. A visual graphic approach for mobility analysis of parallel mechanisms[J]. Front Mech Eng, 2011, 6(1): 92-95.

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Fig.1 Rotational freedom line

Fig.2 Translational freedom couple

Fig.3 Constraint force line

Fig.4 Constraint torque

Fig.5 Flowchart of mobility analysis process

Fig.6 2 lines intersecting at a point are independent

Fig.7 3 lines coinciding with a point are independent

Fig.8 A couple (torque) and a perpendicular line are equivalent to two parallel lines

Fig.9 Only 3 of 4 lines on the 2 planes are independent

Fig.10 Analysis of a parallelogram four-bar mechanism

Fig.11 Analysis of a DELTA mechanism

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