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

被引：0
|
作者：
Zheng, Jianyong [1 ]
Shi, Jinfei [1 ]
Zhang, Zhisheng [1 ]
Shi, Xiaoming
Li, Weimin
机构：
[1] Southeast Univ, Dept Mech & Engn, Nanjing 211189, Peoples R China
来源：
PROCEEDINGS OF FIRST INTERNATIONAL CONFERENCE OF MODELLING AND SIMULATION, VOL V: MODELLING AND SIMULATION IN MECHANICS AND MANUFACTURE | 2008年
关键词：
2-DOF Spherical Parallel Mechanism; Decoupled; Kinematics; Simulation;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：518 / 523
页数：6
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