DocumentCode
3344818
Title
A family of fully decoupled spherical parallel mechanisms
Author
Fan, Zhang ; Jian-guo, Yang
Author_Institution
Eng. Training Center, Shanghai Univ. of Eng. Sci., Shanghai, China
fYear
2010
fDate
26-28 June 2010
Firstpage
2520
Lastpage
2523
Abstract
A family of spherical parallel mechanisms which have fully decoupled motions is presented in this paper. The condition required for synthesizing the fully decoupled parallel mechanism is derived from the screw formulation of Jacobian matrix. According to this condition, several novel decoupled spherical parallel mechanisms are obtained. The decoupled motions are validated by the simulation of the prototype of spherical parallel mechanism.
Keywords
Jacobian matrices; manipulators; Jacobian matrix; decoupled motions; decoupled spherical parallel mechanisms; screw formulation; Acceleration; Couplings; Educational institutions; Equations; Fasteners; Jacobian matrices; Kinematics; Mechanical engineering; Virtual prototyping; Wrist; Parallel mechanism; decoupled motion; spherical motion; synthesis;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5535350
Filename
5535350
Link To Document