HEMISPHERE, a fully decoupled parallel 2-DOF spherical mechanism

被引：0
|
作者：
Li, Weimin [1 ]
He, Kai [2 ]
Qu, Yunxia [1 ]
Zhang, Jianjun [1 ]
Du, R. [2 ]
机构：
[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[2] Chinese Univ Hong Kong, Inst Precis Engn, Shatin, Hong Kong, Peoples R China
来源：
6TH WSEAS INT CONF ON INSTRUMENTATION, MEASUREMENT, CIRCUITS & SYSTEMS/7TH WSEAS INT CONF ON ROBOTICS, CONTROL AND MANUFACTURING TECHNOLOGY, PROCEEDINGS | 2007年
基金：
中国国家自然科学基金;
关键词：
HEMISPHERE; decoupled; spherical mechanism; friction circle; workspace;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the revolute joint, the modified mechanisms are given, which can provide a hemisphere workspace.
引用
收藏
页码：301 / +
页数：3
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