Mobility of mechanisms: a critical review

Gogu, G.

doi:10.1016/j.mechmachtheory.2004.12.014

Cited by 284 publications

(146 citation statements)

References 43 publications

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“…It is well assumed that we deal with a mechanism if the mobility is at least one. There are various methods for mobility calculations of the closed loop mechanism [4]. Each method has its benefits and drawbacks.…”

Section: Mechanism Mobility Singularities and Free Motionsmentioning

confidence: 99%

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Spatial Kinematic Analysis of Double 4-Link Coupler Used in Low-Floor Tram Powertrains

Maniowski

Czauderna

2016

Archive of Mechanical Engineering

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The paper presents kinematic characteristics of the double 4-link coupler system, used in actual powertrain of low-floor trams (NGT6-Kr). The spatial kinematic model of the couplings was formulated assuming ideal joints and rigid members. The constraints equations of the mechanism were solved iteratively and differentiated to obtain the Jacobian matrix. The mobility and singularity analysis of the coupler mechanism was performed on the basis of the Jacobian matrix.Kinematic characteristics of the single and double coupler system were analyzed for gross angular and linear axle displacements (misalignments), taking the advantage of the fully nonlinear model. The coupling system was evaluated based on criteria describing homokinetics, balancing and clearance demands, and angular displacements in the joints. These criteria were determined for different design parameters like: coupler proportions, platform shift and angle, middle shaft length.

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Section: Mechanism Mobility Singularities and Free Motionsmentioning

confidence: 99%

“…It is useful to know how far the mechanism is from its singular configurations (when the Jacobian looses its rank). Conditioning number of the Jacobian matrix is frequently used for this purpose [4].…”

Section: Mechanism Mobility Singularities and Free Motionsmentioning

confidence: 99%

Spatial Kinematic Analysis of Double 4-Link Coupler Used in Low-Floor Tram Powertrains

Maniowski

Czauderna

2016

Archive of Mechanical Engineering

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“…The mobility of the legs is given in Eq. (2). Finally, the structural formula can be constructed by summing all the parameters.…”

Section: Structural Formula Of Serial-parallel Euclidean Platform Robmentioning

confidence: 99%

“…In his review, pattern of growth of literature on kinematic structure over four decades is shown. In 2005, Gogu [2] introduced a mobility analysis of translational parallel robot manipulators, which is different from previous mobility analyses. After this study, in 2006, Alizade et al [3] reviewed the history of degrees of freedom analysis and structural synthesis formulations in a table that also includes the names of authors, publication dates and commentaries.…”

Section: Introductionmentioning

confidence: 99%

Structural synthesis of Euclidean platform robot manipulators with variable general constraints

Alizade

Can

Gezgin

2008

Mechanism and Machine Theory

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In this paper, new method for structural synthesis of Euclidean platform robot manipulators with variable general constraints (EPRM) is presented. Three dimensional motion of the base moving platform is generated by the motion of dyads on the Euclidean planes. Each dyad is connected to the moving base platform by universal, spherical or spherical in torus (S t ) kinematic pairs. This allows solving the structural synthesis of Euclidean robot manipulators with various DoF and different platform motions. New structural formulations with variable general constraints for the platform motion and the mobility of robot manipulators are presented. The new structural classification of simple structural groups with variable general constraints including platforms, hinges, legs and branch loops from different subspaces and space is also introduced. Moreover, new method for structural synthesis of serial, parallel and serial-parallel EPRM is illustrated along with examples.

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“…New parameters in the structural formulas describing the real physical essences should be created in the new investigations and be more suitable for the use in practice in new subjects. In this direction, last investigations can be introduced as Huang [35], Alizade and Bayram [36], Gogu [37], Alizade, Bayram and Gezgin (formulas #38 in Table 1). In the calculation of degrees of freedom of mechanisms, the following new parameters are used in the structural formulas, as a new formulation of the number of independent loops Table 1 Formulas for structural analysis and synthesis…”

Section: Introductionmentioning

confidence: 99%

Structural synthesis of serial platform manipulators

Alizade

Bayram

Gezgin

2007

Mechanism and Machine Theory

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In this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOF are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples. Ó 2006 Elsevier Ltd. All rights reserved. Pep.veı gpelcnabkeyyoq pa,one paccvanpbba.ncz ıogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps. Coplaybe gkanaopveyysx vaybgylznopob goclelobanelsyoq cnpyrnyps ocyobaya ya papbbnbb gkanaopv b pavryynsx roynypob. ı pa,one gpelcnabgeya yobaz cnpyrnypyaz aopvyka, a nar;e paccvanpbba.ncz bogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps c ybpobvb b bscobvb gapavb c noxrb ppeybz bx cnpryrnyps. Bcnopbz cnpyrnypys aopvyk cnegeyb golbb;yocnb gpelcnabkeya b bble na,kbws c ypabyeybzvb, aınopavb, uolavb b yeronopsvb roveynapbzvb. Hobse b gepecvonpeyyse venols cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps bkk.cnpbpy.ncz papkbxsvb gpbvepavb.

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Mobility of mechanisms: a critical review

Cited by 284 publications

References 43 publications

Spatial Kinematic Analysis of Double 4-Link Coupler Used in Low-Floor Tram Powertrains

Spatial Kinematic Analysis of Double 4-Link Coupler Used in Low-Floor Tram Powertrains

Structural synthesis of Euclidean platform robot manipulators with variable general constraints

Structural synthesis of serial platform manipulators

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