Open AccessNew Decoupled 2-Dof Parallel Mechanism with Fully Spherical Workspace
Author(s) -
Shanshan Yu,
Jianjun Zhang,
Weimin Li,
Xianhai Yang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1575/1/012104
Subject(s) - workspace , kinematics , mechanism (biology) , kinematic chain , rotation (mathematics) , chain (unit) , control theory (sociology) , range (aeronautics) , computer science , kinematic diagram , topology (electrical circuits) , physics , mathematics , classical mechanics , engineering , artificial intelligence , aerospace engineering , combinatorics , control (management) , quantum mechanics , robot , astronomy
Decoupled 2-dof spherical parallel mechanism is an important valued spherical parallel mechanism. It is one of the preferred solutions in the field of large-angle spherical workspaces. By studying the configuration of the exiting kinematic decoupled spherical parallel mechanism, it is found that the key issues that it cannot achieve a fully spherical workspace is that the output angle range of the “linear input – rotation output” kinematic chain cannot reach 180°. Based on the input and output characteristics of the double rocker mechanism, two new ideas for constructing the configuration of the “linear input – rotation output” kinematic chain are presented. The output angle range of the new “linear input – rotation output” kinematic chain can reach 180°. Based on the new design idea for “linear input – rotation output” kinematic chain, two new kinematic chains are designed: P5R and PRR. Based on the above kinematic chains, two 2-dof decoupled parallel mechanism with a fully spherical workspace are designed, i.e. RR&P5R parallel mechanism and RR&PRR parallel mechanism.