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Abstract: By
introducing the concept of virtual link, the mobility of the 4R1P-type
planar parallel chain/mechanisms is analyzed based on the Grashof
theorem. The slide reachable range is divided into several
characteristically different regions and the closed chain/mechanisms are
categorized into three classes and further several sub-classes. The
characteristics charts for different classes are given based on which
the mobility is got according to the active/passive prismatic joint, the
slide position, and the real structure of the links. The presented
method is helpful to all the 4R1P-type mechanisms and 3R-type open chain
mechanisms.
Key
words: 4R1P-type
five-bar parallel mechanisms Mobility Characteristics chart
Active prismatic joinf Passive prismatic joint
CLC No: TH156
国家自然科学基金(50405017,
50125516, 50275092)、上海市教委青年基金(01QN10)和香港中文大学基金(5100002646)资助项目.
Received 20050105, received in revised form 20050615
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