Variable Topology Structure Design and Topology Analysis of a Variable-degree-of-freedom Single-loop Mechanism
Li Xia
Shen Huiping
Meng Qingmei
Li Ju
Yang Tingli
Abstract：The degree of freedom of a special single-loop mechanism will change after passing through some special positions,which will lead to the change of its topology,kinematics/dynamics performance,and it is suitable for different application backgrounds.Firstly,a single-loop parallel mechanism composed of eight rotat-ing pairs(R)is studied and designed,which has three motion modes:two degrees of freedom,four degrees of freedom and three degrees of freedom respectively,corresponding to three mechanisms.Then,the three main to-pological characteristics of the mechanism,such as position and orientation characteristic,degree of freedom and coupling degree,are analyzed and calculated in three motion modes,and the stability and transferability of the topological structures of the three mechanisms are analyzed.At the same time,the forward and inverse posi-tion solutions of the mechanism in motion modes 1 and 3 are analyzed.The work in this research provides a foun-dation for the research of reconfigurable parallel mechanisms based on this single-loop mechanism unit with variable degrees of freedom.
Keywords：Variable-degree-of-freedomSingle-loopParallel mechanismTopology designPosi-tion analysis
Publication Date：2024-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 83-89 )