NDLI: Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators

Content Provider	Springer Nature Link
Author	Li, Yanbiao Jin, Zhenlin Ji, Shiming Wang, Zhongfei Jin, Mingsheng Liu, Yi
Copyright Year	2013
Abstract	We addressed the issue of the design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators using the parameter statistics optimum method based on index atlases. The coxa joints have the advantages of high payload, high accuracy, and good technological efficiency. The first step of the design and prototyping used in this paper develops the direct and inverse displacement equations from the layout feature of the mechanical coxa joints. Then, the shapes of a constant-orientation workspace of the mechanical coxa joints are described, and the effects of the design parameters on the workspace volume are studied quantitatively. The next step deals with the graphical representation of the atlases that illustrates the relationship between performance evaluation index and design parameters based on the kinematics and torque analysis of the mechanical coxa joints. Finally, the geometric parameters of the coxa joints are obtained by the parameter statistics optimum method based on the index atlases. Considering assembly conditions, the design scheme of the mechanical coxa joints is developed, which provides a theoretical basis for the application of the mechanical coxa joints.
Starting Page	103
Ending Page	112
Page Count	10
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	27
Issue Number	1
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2013-01-19
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Coxa joints Performance evaluation index Parameters optimizing Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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