Composition Principle Based on Single-Open-Chain Unit for General Spatial Mechanisms and Its Application

[+] Author and Article Information
Ting-Li Yang

Changzhou University, Changzhou, China

Anxin Liu

Nanhang Jingcheng College, Nanjing, China

Hui-Ping Shen

Changzhou University, Changzhou, China

Lu-Bin Hang

Shanghai University of Engineering Science, Shanghai, China

Qiaode Jeffrey Ge

Stony Brook University, NY 11794-2300a, USA

1Corresponding author.

ASME doi:10.1115/1.4040488 History: Received May 10, 2017; Revised May 30, 2018


Based on the general DOF formula for spatial mechanisms proposed by the author in 2012, the early SOC-based composition principle for planar mechanisms is extended to general spatial mechanisms in this paper. Firstly, three types of existing mechanism composistion principle and their characteristics are briefly discussed. Then the SOC-based composition principle for general spatial mechanisms is introduced. According to this composition principle, a spatial mechanism is firstly decomposed into AKCs and an AKC is then further decomposed into a group of ordered SOCs. Kinematic (dynamic) analysis of a spatial mechanism can then be reduced to kenamatic (dynamic) analysis of AKCs and finally to kinematic (dynamic) analysis of ordered SOCs. The general procedure for decomposing the mechanism into ordered SOCs and the general method for determining AKC(s) contained in the mechanism are also given. Mechanism's kinematic (dynamic) analysis can be reduced

Copyright (c) 2018 by ASME
Topics: Kinematics , Chain
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