A Novel Two Degrees of Freedom Rotational Decoupled Parallel Mechanism

Abstract

In the field of spatial orientation, the rotational parallel mechanism is widely used. While the existence of coupling brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and so on. This condition restricts the application fields and effects of the rotational parallel mechanism. Therefore, this paper proposes a novel 2-DOF (two degrees of freedom) rotational DPM (decoupled parallel mechanism). The feature of the mechanism is described and their movement form is analyzed with screw theory. The proposition of the novel rotational DPM will enrich the configurations of the parallel mechanism, and the contents of this paper should be useful for the further research and application of the rotational parallel mechanism.

Chaos phenomenon and stability analysis of RU-RPR parallel mechanism with clearance and friction

“…It comprises a fixed base, a moving platform, and two limbs which connect the fixed base and the moving platform. In the second limb, the direction of the prismatic pair E is perpendicular to the axes of the two rotation pairs C and D. In the two limbs, the two axes of the rotation pairs A and D connected with the fixed base are parallel with each other and parallel to one of the axes of the hooke joint B, while another axis of the hooke joint is collinear with the axis of the revolute pair C. 16 The static coordinate system o 0 -x 0 y 0 z 0 is attached to the fixed base, and the local coordinate system o 2 -x 2 y 2 z 2 is attached to the moving platform. The local coordinate system o i -x i y i z i (i = 1, 3, 4) is attached to the center of mass of the component i (i = 1, 3, 4), the original point o i (i = 1, 3, 4) is set at the center of mass of the component i (i = 1, 3, 4), and all coordinate origins are in the same plane.…”