Design and Position Analysis of Multiple-Mode Seven-Link Spatial Linkages Containing Revolute and Prismatic Joints

• Main Authors: Ren-WeiTseng, 曾仁威
• Other Authors: Chin-tien Huang
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/63200563276377021736

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 98 === This thesis conducts the kinematic analysis of multiple-mode seven-link linkages, which are constructed by combining two overconstrained mechanisms with one or two common joints. The overconstrained mechanisms used in this thesis are Bennett 4R, Goldberg 5R and RPRP linkages. In this thesis, the construction of the multiple-mode 7R, 5R2P and 4R3P linkages and their variations are investigated. The analytical inverse kinematic solutions of open six-link manipulators are adopted to analyze close loop seven-link linkages for a given driving joint angle. According to the result of position analysis, each multiple-mode linkage consists of three operation mode: two overconstrained mechanism mode and a general seven-link linkage mode. These modes can be switched by locking or triggering joints at connecting configurations. For multiple-mode 7R and 5R2P linkages, the simpler motions of the overconstrained mechanism modes allow the linkages to be operated without the need of disassembling/reconnecting the linkages. However, for the multiple-mode 4R3P linkage, it is still necessary to disconnect/reassemble the linkage when moving between certain branches.