A Novel 2-DOF Translational Parallel Mechanism with Passive Spherical Joints

摘要：

　　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.

关键词： Mechanism Parallel Mechanism Kinematics Rigidity

作者: Binbin PENG Jing WU Yu ZHOU

作者单位: School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,P.R.China

会议类型: 国际会议

会议名称: The 5th International Conference on Mechanical Engineering and Mechanics(第五届国际机械工程与力学会议)

会议地点: 江苏扬州

会议语种:英文

页码: 624-628

在线出版日期: 2014-08-21（万方平台首次上网日期，不代表论文的发表时间）