南方科技大学知识苑(SUSTech KC): Twist and finite twist analysis of 2UPR-SPR parallel mechanism based upon screw theory

题名	Twist and finite twist analysis of 2UPR-SPR parallel mechanism based upon screw theory
作者	Shen，Feiyang 1; Yang，Shuofei 1,3; Wang，Hanyan 1; Dai，Jian S.2,3
通讯作者	Yang，Shuofei
发表日期	2023-06-01
DOI	10.1016/j.mechmachtheory.2023.105276
发表期刊	MECHANISM AND MACHINE THEORY 影响因子和分区
ISSN	0094-114X
EISSN	1873-3999
卷号	184
摘要	This paper discusses the issue on mobility analysis of parallel mechanism. The analysis is focused on the two-rotational and one-translational 2UPR-SPR parallel mechanism which has interesting motion properties that one rotation of this mechanism has fixed direction, while the other rotation and the translation have variable directions. Twist analysis is conducted to obtain the feasible velocities of the moving platform at any configuration of the mechanism, and finite twist analysis is carried out to obtain the feasible displacements of the moving platform when the mechanism moves away from the initial configuration to any configuration. The obtained parametric velocity space at any configuration and parametric displacement manifold from the initial configuration to any configuration are formulated, which are proved to contain the same motion information and have the same effect in mobility analysis. Through analyzing the 2UPR-SPR mechanism, it is revealed that both twist and finite twist are effective to describe continuous motions of rigid body or mechanism. This enriches the relation between twist and finite twist, and unifies the applications of these two kinds of screws in mobility analysis.
关键词	Computational kinematics Finite twist Parallel mechanism Screw theory Twist
相关链接	[Scopus记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
资助项目	Engineering and Physical Sciences Research Council (EPSRC) projects of the UK["EP/P026087/1","EP/S019790/1"]
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000944380200001
出版者	PERGAMON-ELSEVIER SCIENCE LTD
EI入藏号	20230813601448
EI主题词	Computation theory
EI分类号	Small Tools and Hardware:605 ; Computer Theory, Includes Formal Logic, Automata Theory, Switching Theory, Programming Theory:721.1
ESI学科分类	ENGINEERING
Scopus记录号	2-s2.0-85148104834
来源库	Scopus
引用统计	被引频次[WOS]：6
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/489737
专题	南方科技大学工学院
作者单位	1.College of Engineering,China Agricultural University,Beijing,100083,China 2.Institute of Robotics,Southern University of Science and Technology,Shenzhen,518055,China 3.Faculty of Natural,Mathematical and Engineering Sciences,King's College London,London,Strand,WC2R 2LS,United Kingdom
推荐引用方式 GB/T 7714	Shen，Feiyang,Yang，Shuofei,Wang，Hanyan,et al. Twist and finite twist analysis of 2UPR-SPR parallel mechanism based upon screw theory[J]. MECHANISM AND MACHINE THEORY,2023,184.
APA	Shen，Feiyang,Yang，Shuofei,Wang，Hanyan,&Dai，Jian S..(2023).Twist and finite twist analysis of 2UPR-SPR parallel mechanism based upon screw theory.MECHANISM AND MACHINE THEORY,184.
MLA	Shen，Feiyang,et al."Twist and finite twist analysis of 2UPR-SPR parallel mechanism based upon screw theory".MECHANISM AND MACHINE THEORY 184(2023).