文献类型：期刊文献

英文题名：Interference analysis and workspace optimization of 3-RRR spherical parallel mechanism

作者：Tao, Zongjie[1];An, Qi[1]

机构：[1]E China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China

年份：2013

卷号：69

起止页码：62

外文期刊名：MECHANISM AND MACHINE THEORY

收录：;EI(收录号：20132416420551);WOS:【SCI-EXPANDED(收录号:WOS:000323358600004)】；

语种：英文

外文关键词：3-RRR spherical parallel mechanism; Workspace; Interference; Optimization; Singularity

摘要：The causes of restriction on the working scope of spherical parallel mechanism (SPM) were analyzed. A systematic design methodology (Least Interference Design Methodology, LIDeM) for reducing interference among links and increasing workspace of mechanism was also developed in this study. Focusing on 3-RRR SPM, the optimal structure was given according to the LIDeM theory. The optimum values of the modified link ratio beta(1) and beta(2) were obtained through numerical simulation of its mathematical model. In addition, the total workspace mapping, singularity loci and interference regions of the optimum 3-RRR SPM were also attained in this study by computational simulation. This work improves the total workspace of 3-RRR SPM and could be applied on some other revolute-joint mechanisms. Crown Copyright (C) 2013 Published by Elsevier Ltd. All rights reserved.