Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism
Abstract Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots, exoskeleton robots, entertainment 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-d...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2022-04-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-022-00702-7 |
| _version_ | 1819061417440968704 |
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| author | Ziming Chen Xuechan Chen Min Gao Chen Zhao Kun Zhao Yanwen Li |
| author_facet | Ziming Chen Xuechan Chen Min Gao Chen Zhao Kun Zhao Yanwen Li |
| author_sort | Ziming Chen |
| collection | DOAJ |
| description | Abstract Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots, exoskeleton robots, entertainment 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 structure 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 characteristics 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. |
| first_indexed | 2024-12-21T14:42:33Z |
| format | Article |
| id | doaj.art-c2b97b98d22f40649e7b08fd5b275c65 |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-12-21T14:42:33Z |
| publishDate | 2022-04-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-c2b97b98d22f40649e7b08fd5b275c652022-12-21T19:00:07ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582022-04-013511910.1186/s10033-022-00702-7Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel MechanismZiming Chen0Xuechan Chen1Min Gao2Chen Zhao3Kun Zhao4Yanwen Li5School of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Yanshan UniversitySchool of Mechanical Engineering, Yanshan UniversityAbstract Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots, exoskeleton robots, entertainment 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 structure 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 characteristics 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.https://doi.org/10.1186/s10033-022-00702-7Spherical parallel mechanism2DOFWorkspaceEquivalent rotation |
| spellingShingle | 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 Chinese Journal of Mechanical Engineering Spherical parallel mechanism 2DOF Workspace Equivalent rotation |
| title | Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism |
| title_full | Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism |
| title_fullStr | Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism |
| title_full_unstemmed | Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism |
| title_short | Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism |
| title_sort | motion characteristics analysis of a novel spherical two degree of freedom parallel mechanism |
| topic | Spherical parallel mechanism 2DOF Workspace Equivalent rotation |
| url | https://doi.org/10.1186/s10033-022-00702-7 |
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