Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace
Spherical parallel mechanisms with large or fully spherical workspace are one of the important research directions in the application of large-angle workspace. Aiming at the problem of insufficient workspace in the current spherical parallel mechanisms，a new idea for the type design of a 2-DOF decou...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.003 |
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| Summary: | Spherical parallel mechanisms with large or fully spherical workspace are one of the important research directions in the application of large-angle workspace. Aiming at the problem of insufficient workspace in the current spherical parallel mechanisms，a new idea for the type design of a 2-DOF decoupled parallel mechanism with a fully spherical workspace is presented based on the input and output characteristics of the double rocker mechanism. And a newly decoupled parallel mechanism (RR&P5R) with a fully spherical workspace is designed. The kinematic equations of parallel mechanism are established through kinematic analysis. Then the relationship of displacement，velocity and acceleration between input and output for the RR&P5R mechanism are obtained. With the objective of the minimum input quantity <italic>q</italic><sub>2</sub>，the size of the RR&P5R mechanism is optimized. This research provides an important theoretical basis for large-angle spherical workspace applications. |
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| ISSN: | 1004-2539 |