STUDY ON THE DECOUPLING CONDITIONS OF THE SPHERICAL PARALLEL MECHANISM BASED ON THE CRITERION FOR TOPOLOGICALLY DECOUPLED PARALLEL MECHANISMS

Abstract

Abstract: Parallel mechanisms possessing decoupled property between kinematic input and output parameters are easy to control. Based on the criterion for topologically decoupled parallel mechanisms, the kinematics of an existing 3-DOF decoupled spherical parallel mechanism are analyzed and its more general decoupling condition is put forward, which forms the base for a more generally novel decoupled spherical parallel mechanism. The method presented for topological analysis and synthesis of decoupled parallel mechanisms is of significance for innovative design of parallel mechanisms.

Key words: Basic kinematic chain, Decoupled properties, Parallel mechanism, Spherical parallel mechanism

CLC Number:

TH112

Hang Lubin;Wang Yan;Wu Jun;Jin Qiong;Yang Tingli. STUDY ON THE DECOUPLING CONDITIONS OF THE SPHERICAL PARALLEL MECHANISM BASED ON THE CRITERION FOR TOPOLOGICALLY DECOUPLED PARALLEL MECHANISMS[J]. , 2005, 41(9): 28-32.

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STUDY ON THE DECOUPLING CONDITIONS OF THE SPHERICAL PARALLEL MECHANISM BASED ON THE CRITERION FOR TOPOLOGICALLY DECOUPLED PARALLEL MECHANISMS

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