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• W3163392592 abstract "• The proper base screw revealing the transmission path of motion in the lower-mobility parallel mechanism. • A general method identifying the multi-parameter instantaneous screw. • The screw rolling between moving and fixed axodes decomposed into several screw rollings of envelope axodes. Analogous to the null space map, this work proposes a “unit space map” to identify the generalized transmission wrench screw, which plays an important role in the general method determining the multi-parameter instantaneous screw of lower-mobility parallel mechanism which can be expressed as the linear combination of several proper basis screws of a twist screw system. Based on the fundamental equation, the screw rolling between moving and fixed axodes is decomposed into the linear superposition of several coupling screw rollings associated with several pairs of moving and fixed envelope axodes of proper basis screw, respectively. Moreover, several numerical examples of SP+SPR+SPU and 3-UPU parallel mechanisms are presented to verify the linear superposition, unit space map, and the method determining the multi-parameter instantaneous screw. Finally, the graph of the velocity-ratio parameter is employed to analyze the influence of input velocities on the axode shape of the 3-UPU PM when it undergoes two motion patterns: constant velocity-ratio and variable velocity-ratio." @default.
• W3163392592 created "2021-05-24" @default.
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• W3163392592 date "2021-09-01" @default.
• W3163392592 modified "2023-09-29" @default.
• W3163392592 title "Screw rolling between moving and fixed axodes traced by lower-mobility parallel mechanism" @default.
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• W3163392592 doi "https://doi.org/10.1016/j.mechmachtheory.2021.104354" @default.
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