Cause and Identification of Inactive Joints

Abstract

Abstract:

The prime reason of inactive joint’s existance is its speed which is linear independent of other joints.This reason was analyzed through several examples. An identification method of inactive joints based on screw theory was given. It is unnecessary to calculate Jacobian matrixes in this method.

Key words: inactive joint, parallel mechanism, degree of freedom, screw theory

摘要：

消极运动副存在的根本原因是它的运动螺旋与并联机构中其他运动副的运动螺旋线性无关。通过几个实例对此原因进行了比较深入的剖析，在此基础上，提出了一种基于旋量理论的消极运动副的判定方法，该方法无需计算运动螺旋的具体数值。



关键词: 消极运动副；并联机构；自由度；旋量理论

CLC Number:

TH112

Yang Dongchao;Bin Yang;Jia Zhenzhong;Zhao Danpu. Cause and Identification of Inactive Joints[J]. J4, 2008, 19(7): 0-761.

杨东超;宾洋;贾振中;赵旦谱. 消极运动副的产生原因及判定方法[J]. J4, 2008, 19(7): 0-761.

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Cause and Identification of Inactive Joints

消极运动副的产生原因及判定方法

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