http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Dongming Gan,Jian S Dai,Jorge Dias,Lakmal Seneviratne 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.10
This paper investigates various topologies and mobility of a class of metamorphic parallel mechanisms synthesized with reconfigurablerTPS limbs. Based on the reconfigurable Hooke (rT) joint, the rTPS limb has two phases which result in parallel mechanisms havingability of mobility change. While in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint centerto lie on a plane which is used to demonstrate different topologies of the nrTPS metamorphic parallel mechanisms by investigatingvarious relations (parallel or intersecting) among the n constraint planes (n = 2,3,..,6). Geometric constraint equations of the platformrotation matrix and translation vector are set up based on the point-plane constraint, which reveals mobility and redundant geometricconditions of the mechanism topologies. By altering the limbs into the non-constraint phase without constraint plane, new mechanismphases are deduced with mobility change based on each mechanism topology.