Velocity Performance Analysis of a Novel 2-DOF Fully-Decoupled Spherical Parallel Mechanism

Author

Qu, Yunxia ; Xu, Anping ; Li, Weimin ; Fan, Shuncheng

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

fYear

2009

fDate

1-3 Nov. 2009

Firstpage

546

Lastpage

549

Abstract

In this paper, the spatial model of a novel 2-DOF spherical parallel mechanism named as RR&IILR is established by employing the non-dimensional method to design mechanisms. The method of describing the performance indexes of velocity is given. Also, a novel method to describe the mechanism´s velocity performances by using the mean value of performance indexes and its fluctuation is proposed. And the atlases of velocity performance are drawn in the form of contour series. In addition, the effective ranges of the non-dimensionally designed linkage length are determined under different requirements for velocity performance indexes. This study will pave a way for the application of this kind of mechanism.

Keywords

manipulator kinematics; RR&IILR; design mechanisms; novel 2-DOF fully-decoupled spherical parallel mechanism; velocity performance analysis; Actuators; Couplings; Design methodology; Electronic mail; Fluctuations; Intelligent networks; Intelligent systems; Leg; Mechanical engineering; Performance analysis; decoupled mechanism; spatial model; spherical parallel mechanism; velocity performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Networks and Intelligent Systems, 2009. ICINIS '09. Second International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-5557-7

Electronic_ISBN

978-0-7695-3852-5

Type

conf

DOI

10.1109/ICINIS.2009.145

Filename

5362814