Topology Design of Robot Mechanisms by Ting-Li Yang Anxin Liu Huiping Shen Lubin Hang Yufeng Luo & Qiong Jin

Author:Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo & Qiong Jin
Language: eng
Format: epub
Publisher: Springer Singapore, Singapore

(6.10)

where, —number of independent displacement equations of the mechanism. Other symbols are same as those in Eq. (6.8).

6.3.4 Number of Overconstraints

Number of overconstraints of the mechanism is [15]

(6.11)

where, —number of overconstraints of the mechanism, —number of independent loops, —number of independent displacement equations.

6.3.5 Redundancy

Definition: Redundancy of the mechanism is defined as [15]

(6.12a)

where, DRed—redundancy of the mechanism, MPa—POC set of the movable platform, F–DOF of the mechanism.

Substitute Eq. (6.9) into Eq. (6.12a), there is

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