Kinematics Analysis and Simulation of a Novel 2-DOF Decoupled Spherical Parallel Mechanism

A novel 2-DOF (degree of freedom) decoupled spherical parallel mechanism was proposed in this article. The mechanism's configuration characteristics were studied and summarized, which had been obtained from the movable pair-analysis method. It also had carried on the mechanism's kinematics analysis. The direct/inverse kinematics problems were solved and the input/output speed, the acceleration analysis had also been completed. Finally, the software UG and ADAMS were applied in the establishment of the mechanism's virtual model, and the modeling method was expounded. The simulative analysis of the mechanism's kinematics was also achieved on computer, which confirms the mechanism's decoupling movable characteristics. All of these works provided the significant theory for the further study of the mechanism's design, control strategy, application etc.