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Fundamental Concepts in Kinematics
Published in Kevin Russell, Qiong Shen, Raj S. Sodhi, Kinematics and Dynamics of Mechanical Systems Implementation in MATLAB® and Simmechanics®, 2018
Kevin Russell, Qiong Shen, Raj S. Sodhi
Mechanism links are interconnected by joints. Both the planar four-bar, geared five-bar, Watt, and Stephenson mechanisms include revolute joints: joints having a single rotational degree of freedom. The prismatic joint has a single translational degree of freedom and is used where 1-DOF sliding contact is needed. The cylindrical joint and spherical joint are other joint types utilized in spatial mechanisms. The cylindrical joint has a rotational and a translational degree of freedom, while the spherical joint has three rotational degrees of freedom. Joints having two degrees of freedom include the cam joint and gear joint, which both include rolling-sliding contact.
Mobility of Mechanisms
Published in Kevin Russell, Qiong Shen, Raj S. Sodhi, Mechanism Design, 2013
Kevin Russell, Qiong Shen, Raj S. Sodhi
Mechanism links are interconnected by joints. Both the planar four-bar mechanism and the Stephenson III mechanism include revolute joints—a joint having a single rotational degree of freedom. The prismatic joint has a single translational degree of freedom and is used where single degree of freedom sliding contact is needed. The cylindrical joint and spherical joint are other joint types utilized in this textbook for spatial mechanisms.
Stiffness analysis of a planar parallel manipulator with variable platforms
Published in Mechanics Based Design of Structures and Machines, 2023
Xiaoyong Wu, Yujin Wang, Zhaowei Xiang, Ran Yan, Rulong Tan, Ruizhi Shu
For each limb, the axes of the two prismatic joints are assumed orthogonal, and the first prismatic joint is actuated by a lead screw actuation system, as shown in Fig. 2(a). Since the second prismatic joint in each limb is a passive joint, so the force acts at revolute joint Ai is normal to the axis of the second prismatic joint, namely the force is parallel to the moving direction of the active prismatic joint.
Design and analysis of a compliant polishing manipulator with tensegrity-based parallel mechanism
Published in Australian Journal of Mechanical Engineering, 2021
Wei Zhu, Jiahong Liu, Hanbing Li, Kairong Gu
This section describes the design of a compliant manipulator device for polishing a three-dimensional surface. To achieve effective motion, this device is designed as a four-DOF hybrid structure that is composed of an adjustable spring-loaded prismatic joint and a three-rotational tensegrity parallel mechanism. The mechanism can slide axially along the prismatic joint.