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Mobility analysis of complex joints by means of screw theory

Published online by Cambridge University Press:  16 February 2009

Jingjun Yu ,
Jian S. Dai ,
Tieshi Zhao ,
Shusheng Bi  and
Guanghua Zong
Jingjun Yu*
Affiliation:
Robotics Institute, Beihang University, Beijing 100083, China
Jian S. Dai
Affiliation:
Department of Mechanical Engineering, King's College, University of London, the Strand, London WC2R 2LS, UK
Tieshi Zhao
Affiliation:
Robotics Research Center, Yanshan University, Qinhuangdao 066004, China
Shusheng Bi
Affiliation:
Robotics Institute, Beihang University, Beijing 100083, China
Guanghua Zong
Affiliation:
Robotics Institute, Beihang University, Beijing 100083, China
*
*Corresponding author. Email: jjyu@buaa.edu.cn
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Summary

In structural design of current complex mechanisms or robots like parallel kinematic machines (PKMs), surgical robots, and reconfigurable robots, there commonly exist some functional modules called complex joints (CJs). Each of them, consisting of several simple pairs and essentially a mechanism, plays the same and more important roles as simple joints in kinematics and dynamics. However, as the primarily important aspect in mechanism analysis, the type and mobility of these CJs are far from familiarity. Therefore, this paper aims at addressing the type and mobility of CJs. For this purpose, the concept and classification of CJs are first discussed, an effective method to analyze the mobility characteristics of these CJs is then developed based on the equivalent screw system. The advantage of this method is that it reveals mobility characteristics by using equivalent transformations of kinematic pair screw (KP-screw) and constraint screw (C-screw) systems. With this method, the mobility characteristics of some concrete CJs are obtained correspondingly.

Keywords

Complex jointMobilityScrew systemParallel mechanismParallelogram
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 915 - 927
Copyright
Copyright © Cambridge University Press 2009

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