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
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;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5535350
