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

被引：0
|
作者：
Zheng, Jianyong [1 ]
Shi, Jinfei [1 ]
Zhang, Zhisheng [1 ]
Shi, Xiaoming [2 ]
Li, Weimin [2 ]
机构：
[1] Southeast Univ, Dept Mech & Engn, Nanjing 211189, Peoples R China
[2] Hebei Univ Technol, Dept Mech Engn, Tianjin 300130, Peoples R China
来源：
2008 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2008年
基金：
国家高技术研究发展计划(863计划);
关键词：
Spherical Parallel Mechanism; Decoupled; Kinematics; 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：
A 2-DOF (degree of freedom) decoupled spherical parallel mechanism is presented. The mechanism's configuration characteristic are studied and summarized. Its branch-chains are different completely, one is a 1/4 circular branch-chain, the other is a 7R+R branch-chain, and each branch-chain can only control one rotational direction of the movable platform. Furthermore, in order to verify the mechanism's decoupling characteristic, the mechanism's kinematics analysis is completed, which is concerned with the direct/inverse kinematics problems, the input/output speed and the acceleration analysis. Finally, the workspace of the parallel mechanism is analyzed systematically. All these works provided the significant theory for the further study of the mechanism's application. The decoupled spherical mechanism has wide application in the fields of the robot's waist, wrist, shoulder, hip and antenna orientation, camera tracking, solar localization et al.
引用
收藏
页码：392 / +
页数：2
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