Grassmann Line Geometry Based Configuration Synthesis of Equivalent Uu Parallel Mechanisms with Two Virtual Center-of-Motion

作     者：Wei, Jun Yu, Bin Liu, Chenglei Song, Jingke Zhang, Jianjun 

作者机构：School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China 

出 版 物：《SSRN》 

年 卷 期：2022年

核心收录：

主　　题：Screws 

摘      要：This paper investigates a class of equivalent UU parallel mechanisms with two virtual center-of-motions (VCMs) in terms of the Grassmann line geometry principle, which its configuration synthesis is carried out by using geometric characteristics of the equivalent UU model. First, the equivalent UU model is proposed concerning the analysis of ankle rehabilitation and the ankle UU model, which three geometric characteristics and four classes of motion and constraint characteristics of the equivalent UU model are given. Second, the motion principle of equivalent UU parallel mechanism is proposed with respects to the characteristics of motion and constraint, which provides a theoretical method for configurable synthesis. Third, a series of constraint limbs satisfying the motion and constraint characteristics of equivalent UU parallel mechanism are synthesized by using the constraint screw synthesis method in terms of the screw theory and Grassmann line geometry principle. Finally, the concept of multiset is introduced into mechanism synthesis, and a series of equivalent UU parallel mechanisms are synthesized based on the method of constraint screw multiset. © 2022, The Authors. All rights reserved.