A Novel 2-DOF Translational Parallel Mechanism with Passive Spherical Joints
A novel 2-DOF(degree of freedom)translational parallel mechanism with passive spherical joints is proposed.The presented 2-DOF translational parallel mechanism is a spatial structure and has higher rigidity than the other ones with plane structure whose kinematic pairs are just prismatic and revolute joints.Firstly,a complete description of the new architecture is done and its geometric structure model is established.Based on the geometric structure model,the motion of the moving platform is simulated to verify that the novel 2-DOF translational parallel mechanism can undergo two dimensional pure translational motion.Then the kinematics of the novel 2-DOF translational parallel mechanism is studied.And closed form solutions are developed for both inverse and forward kinematics of position.The Jacobin matrix of the 2-DOF translational parallel mechanism is also obtained.Finally,other topological mechanism is designed based on the novel parallel mechanism.
Mechanism Parallel Mechanism Kinematics Rigidity
Binbin PENG Jing WU Yu ZHOU
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,P.R.China
国际会议
The 5th International Conference on Mechanical Engineering and Mechanics(第五届国际机械工程与力学会议)
江苏扬州
英文
624-628
2014-08-21(万方平台首次上网日期,不代表论文的发表时间)