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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| Format: | Article |
| Language: | zho |
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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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| _version_ | 1841547405622771712 |
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| author | Yu Shanshan Zhang Jianjun Li Weimin Yang Xianhai |
| author_facet | Yu Shanshan Zhang Jianjun Li Weimin Yang Xianhai |
| author_sort | Yu Shanshan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-48c10c7e50944f1e9ec375dc822349e6 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-48c10c7e50944f1e9ec375dc822349e62025-01-10T14:44:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-03-0144142031441965Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical WorkspaceYu ShanshanZhang JianjunLi WeiminYang XianhaiSpherical 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.003Spherical parallel mechanismFully spherical workspaceMovement decouplingStructural optimization |
| spellingShingle | Yu Shanshan Zhang Jianjun Li Weimin Yang Xianhai Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace Jixie chuandong Spherical parallel mechanism Fully spherical workspace Movement decoupling Structural optimization |
| title | Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace |
| title_full | Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace |
| title_fullStr | Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace |
| title_full_unstemmed | Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace |
| title_short | Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace |
| title_sort | research and optimization of rr amp p5r decoupled parallel mechanism with a fully spherical workspace |
| topic | Spherical parallel mechanism Fully spherical workspace Movement decoupling Structural optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.003 |
| work_keys_str_mv | AT yushanshan researchandoptimizationofrrampp5rdecoupledparallelmechanismwithafullysphericalworkspace AT zhangjianjun researchandoptimizationofrrampp5rdecoupledparallelmechanismwithafullysphericalworkspace AT liweimin researchandoptimizationofrrampp5rdecoupledparallelmechanismwithafullysphericalworkspace AT yangxianhai researchandoptimizationofrrampp5rdecoupledparallelmechanismwithafullysphericalworkspace |