A novel parallel 2-DOF spherical mechanism with one-to-one input-output mapping

Authors:
Weimin Li;Jianguang Sun;Jianjun Zhang;Kai He;R. Du
Affiliations:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, China;School of Mechanical Engineering, Hebei University of Technology, Tianjin, China;School of Mechanical Engineering, Hebei University of Technology, Tianjin, China;Institute of Precision Engineering, The Chinese University of Hong Kong, Shatin, N. T., Hong Kong, China;Institute of Precision Engineering, The Chinese University of Hong Kong, Shatin, N. T., Hong Kong, China
Venue:
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
Year:
2006

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Abstract

This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, the new mechanism is given. Besides, the new mechanism uses a planar parallelogram to replace the prismatic pair to achieve the simple kinematics of one-to-one input-output mapping with minimum requirement on actuators. The workspace of the mechanism is also analyzed, in which the effect of friction circle of the revolute joint is considered.