The Study Of A Novel Fully Decoupled Spherical 2-DOF Parallel Manipulator

Spherical manipulator is a sort of most useful mechanism. It's usually used for waist, wrist, shoulder and coax and so on. Also can used for machine tool (such as the pedestal of the machine tool & the workpiece's orientation). In addition it can be used for follow up the scent system of the solar battery, antenna, and astronomical telescope and so on. Corresponding to the serial manipulators, the parallel manipulators have been devoted long-termed attention for some special characters, such as high stiffness, high load capability, high speed, and lower inertia because the motors are fixed to the base. Coupling is an extrusive trait for parallel manipulator, and this trait made parallel manipulator has lots of full differently particularities as the manipulator which in series such as has large carrying capacity and accumulative total error and so on. This particularity also makes the design, analyse and control of parallel manipulator very difficult. If some of parallel manipulator's characters are decoupled or partly decoupled, the kinematics model will simplify and the kinematics demarcate,control will facilitated. This makes the design of the parallel manipulator became simply.This paper introduces a novel fully decoupled spherical 2-DOF parallel manipulator. This manipulator not only has the merit of a parallel robot, but also full decoupled. The manipulator is decoupled on kinematics, that is to say, each limb only controls one directional movement and has no effect on another directional movement. In this paper, the manipulator is studied in many fields, such as the structure, kinematics, static, physical model of the solution space, performance and so on. The detailed descriptions are as follows:1. The kinematics equation of this mechanism has been built, and we've got the forward solution, the inverse solution and the jacobian matrix J.2. The static's equation and the force/moment transmission matrix G are obtained, which is the base of the design of the software before long.3. The physical model of the solution space is established and that grounds the foundation for the optimum design.4. The velocity isotropic and extremism indices, load-bearing capability indices etc. has been put forward. And the index atlases are presented. At the same time, we've discussed the peculiar situation and the workspace of the manipulator.5. This paper uses mechanic dynamic analysis software UG and ADAMS to build a virtual prototype of the mechanism and shows the simulation for the kinematics and dynamics of this mechanism.