Geometric Approach for Kinematic Analysis of a Class of 2-DOF Rotational Parallel Manipulators

作     者：DONG Xin YU Jingjun CHEN Bin ZONG Guanghua 

作者机构：Robotics InstituteBeihang UniversityBeijing 100191China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2012年第25卷第2期

页      面：241-247页

核心收录：

学科分类：07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0701[理学-数学] 070101[理学-基础数学] 

基　　金：supported by National Natural Science Foundation of China (Grant No. 50875008) 

主　　题：parallel manipulator kinematics singularity workspace 

摘      要：Euler angles are commonly used as the orientation representation of most two degrees of freedom（2-DOF） rotational parallel mechanisms（RPMs）,as a result,the coupling of two angle parameters leads to complexity of kinematic model of this family of *** a simple analytical kinematic model with respect to those parameters representing the geometrical characteristics of the mechanism,is very helpful to improve the performance of *** this paper,a new geometric kinematic modeling approach based on the concept of instantaneous single-rotation-angle is proposed and used for the 2-DOF RPMs with symmetry in a homo-kinetic *** authors＇ knowledge,this is a new contribution to parallel *** means of this method,the forwards kinematics of 2-DOF RPMs is derived in a simple way,and three cases i.e.4-4R mechanism（Omni-wrist III）,spherical five-bar one,and 3-RSR1-SS one demonstrate the validity of the proposed geometric *** addition,a novel 2-DOF RPM architecture with virtual center-of-motion is presented by aid of the same *** result provides a useful tool for simplifying the model and extending the application of the RPMs.