典型文献
Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism
文献摘要：
Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,enter-tainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical struc-ture is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteris-tics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.
文献关键词：
中图分类号：
作者姓名：
Ziming Chen;Xuechan Chen;Min Gao;Chen Zhao;Kun Zhao;Yanwen Li
作者机构：
School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,Hebei,China
文献出处：
引用格式：
[1]Ziming Chen;Xuechan Chen;Min Gao;Chen Zhao;Kun Zhao;Yanwen Li-.Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism)[J].中国机械工程学报,2022(02):91-99
A类：
SPMs,tainment
B类：
Motion,Characteristics,Analysis,Novel,Spherical,Two,degree,freedom,Parallel,Mechanism,Current,research,spherical,parallel,mechanisms,mainly,focus,surgical,robots,exoskeleton,equipment,other,fields,However,compared,structure,types,contents,not,abundant,enough,In,this,paper,novel,two,2DOF,symmetrical,proposed,analyzed,First,models,forward,kinematics,inverse,established,parameters,Jacobian,matrix,obtained,verified,Second,workspace,according,link,interference,conditions,Next,rotational,analysis,shows,that,end,effector,can,achieve,continuous,about,axis,located,mid,plane,passing,through,center,Moreover,characteristics,proved,motion,planning,carried,numerical,example,given,verify,Finally,some,variant,be,synthesized,This,lays,foundation,control,practical,application
AB值：
0.576574
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