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A Unified Approach for the Kinematic and Force Analysis of Simple Wire-Driven Platform Mechanisms

Published online by Cambridge University Press:  05 May 2011

Y. L. Lin  and
T. Liu
Y. L. Lin*
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10617, R.O.C.
T. Liu*
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10617, R.O.C.
*
*Graduate student
**Associate Professor
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Abstract

In the analysis of simple wire-driven platform (SWDP) mechanisms, the tension and the posture of each wire can be formulated, and expressed in an integrated screw representation naturally. In this study, a unified approach for analyzing the kinematics and kinetics of SWDP mechanisms based on the screw theory is proposed and developed, which includes the screw-based Jacobian, the static and dynamic equilibrium of wires and platform, and the singularity analysis. Via using the unified screw-based approach, the investigation on the characteristics of SWDP mechanisms, therefore, can be more efficient and simplified. An example is presented to demonstrate this unified approach.

Keywords

Simple wire-driven mechanismsKinematic analysisScrew theory.
Type
Articles
Information
Journal of Mechanics , Volume 20 , Issue 3 , September 2004 , pp. 211 - 217
Copyright
Copyright © The Society of Theoretical and Applied Mechanics, R.O.C. 2004

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