Design and analysis of a totally decoupled 3-DOF spherical parallel manipulator

被引：6
|
作者：
Zhang, Dan [1 ,2 ]
Zhang, Fan [3 ]
机构：
[1] Univ Ontario Inst Technol, Oshawa, ON L1H 7K4, Canada
[2] Qingdao Technol Univ, Qingdao 266033, Peoples R China
[3] Shanghai Univ Engn Sci, Dept Mech Engn, Shanghai 201620, Peoples R China
来源：
ROBOTICA | 2011年 / 29卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
Parallel manipulators; Design; Automation; Control of robotic systems; Mechatronic systems;
D O I：
10.1017/S0263574710000652
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we propose a unique, decoupled 3 degree-of-freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained on the basis of the physical meaning of the row vector in the Jacobian matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y, and z axes and contains an output angle that is equal to the input angle. As this device is analyzed with the Jacobian matrix, the mechanism is free of singularity within its workspace and maintains homogenous stiffness over the entire workspace.
引用
收藏
页码：1093 / 1100
页数：8
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