A Decoupled Spherical Parallel Mechanism with Sphere Workspace and Its Characteristic

Li Xiang; Li Weimin; Feng Shaohui; Zhang Jianjun; Yu Shanshan

doi:10.16578/j.issn.1004.2539.2018.04.003

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A Decoupled Spherical Parallel Mechanism with Sphere Workspace and Its Characteristic

更新时间：2022-10-20

- A Decoupled Spherical Parallel Mechanism with Sphere Workspace and Its Characteristic
- Vol. 42, Issue 4, Pages: 11-15(2018)
- 作者机构：
  
  1. 河北工业大学并联机器人研究室
  2. 中国科学院高能物理研究所粒子天体物理重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.04.003
  CLC：
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[1]李想,李为民,冯少辉,张建军,于珊珊.一种可实现全球面工作空间的解耦球面并联机构及其特性[J].机械传动,2018,42(04):11-15.

Li Xiang, Li Weimin, Feng Shaohui, et al. A Decoupled Spherical Parallel Mechanism with Sphere Workspace and Its Characteristic. [J]. 42(4):11-15(2018)
[1]李想,李为民,冯少辉,张建军,于珊珊.一种可实现全球面工作空间的解耦球面并联机构及其特性[J].机械传动,2018,42(04):11-15. DOI： 10.16578/j.issn.1004.2539.2018.04.003.

Li Xiang, Li Weimin, Feng Shaohui, et al. A Decoupled Spherical Parallel Mechanism with Sphere Workspace and Its Characteristic. [J]. 42(4):11-15(2018) DOI： 10.16578/j.issn.1004.2539.2018.04.003.

摘要

针对现有的球面并联机构在大球面工作空间应用领域,其工作空间不足的问题,提出一种具有全球面工作空间的解耦球面并联机构。首先,依据摩擦圆对转动副转动范围的限制,对机构进行了改进设计,实现了机构全球面工作空间及自由度计算;其次,利用封闭矢量法,求解机构位置正反解解析表达式;最后,根据机构输入与输出参数之间关系,推导得到机构速度雅可比矩阵,并验证了机构具有完全解耦特性,为机构应用于全球面工作空间领域提供了理论基础。

Abstract

Aiming at the workspace of existing spherical parallel mechanism is smaller in the field of large spherical workspace application,a decoupling spherical parallel mechanism with sphere workspace is proposed.Firstly,according to the limitation from the friction circle of the revolute joint,the modified mechanism is given,which can provide a sphere workspace,and its number of degree of freedom is analyzed. Secondly,the inverse and forward position for the mechanism is derived with the closed vector method. The expression of the Jacobian matrix is deduced with the relational expression between the input and output parameters of the mechanism. And according to the expression of the Jacobian matrix,the decoupled feature of the proposed parallel mechanism is validated. The theoretical foundation for the application of the mechanism to the sphere workspace is provided.

关键词

球面并联机构摩擦圆全球面工作空间解耦

Keywords

Spherical parallel mechanismFriction circleSphere workspaceDecoupled

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