Composition Principle Based on SOC Unit and Coupling Degree of BKC for General Spatial Mechanisms

10.6567/IFToMM.14TH.WC.OS13.135

Ting-Li Yang；An-Xin Liu；Hui-Ping Shen；Yu-Feng Luo；Lu-Bin Hang；Qiong Jin

Spatial mechanism ； Structure composition ； Singleopen- chain (SOC) ； Constraint degree ； Basic kinematic chain (BKC) ； Coupling degree ； Motion decoupling performance

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

437 - 446

英文

Main contents of this paper include: (1) The AKCbased composition principle for planar mechanisms is extended to general spatial mechanism. (2) Any spatial kinematic chain can be regarded as being composed of several single-openchains (SOCs) connected in proper order. Based on the novel general DOF formula for spatial mechanisms proposed by authors, obtained constraint degree of SOC which represents its constraints to mechanism DOF. (3) Coupling degree of basic kinematic chain (BKC) and BKC determination are introduced based on constraint degree of SOC. The coupling degree represents complexity of kinematic (or dynamic) analysis of the mechanism. (4) Interrelation between DOF type and BKC is revealed. Basic principle for input-output motion decoupling of parallel mechanisms and the method for design of decoupled parallel mechanism are proposed.