首页|Motion/structure mode analysis and classification of n-RR planar parallelogram mechanisms
Motion/structure mode analysis and classification of n-RR planar parallelogram mechanisms
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NSTL
Elsevier
Planar parallelogram mechanisms (PPMs) have been used in many applications either as standalone pieces or as compositional joints of mechanisms, such as parallel mechanisms, remote center mechanisms and variable-DOF mechanisms. An n-RR PPM is composed of congruent base and moving platform connected with n RR links of equal link lengths. Although it is well known that an n-RR PPM has one 1-DOF circular translation mode, whether an n-RR PPM has structure/motion modes in addition to the 1-DOF motion mode and how the link parameters affect the number of extra motion/structure modes of the n-RR PPMs have not been well investigated. This paper is about the motion/structure mode analysis and classification of n-RR PPMs. Firstly, the motion/structure mode analysis of 3-RR PPMs is carried out. Then conditions for an n(n > 3)-RR PPM to have the same motion/structure modes as a 3-RR PPM are revealed. Finally, n(n ≥ 3)-RR PPMs are classified into three types. In addition to one 1-DOF motion mode, Types I, II and III PPMs have two, one or zero structure mode respectively. This work provides a foundation for the construction and analysis of several variable-DOF mechanisms composed of PPMs.
NSTL
Elsevier
